Mitsubishi Electric MELFA CR800-D Series - Page 134

6 Coordinated control for additional axes
6-124 Additional axis tracking
(a) Display the following command.
(b) Press the [F1](FWD) key and specify the workpiece number in the variable “MWrkNo”
Example
）
When “2” is specified as the workpiece number.
(c) Press the [F1] (FWD) key and the change is determined.
(7) Press the [F1] (FWD) key and execute step feed. “(2) Mov the robot to the origin … “is displayed.
Execute work according to the comment in the robot program.
Move the robot to the origin point position of user mechanism.
Origin point position
(User mecha)
Work base coordinate
<PROGRAM> C1
10 P_100(M1) = P_Zero
11 Next M1
12 ' (2) Mov the robot to the origin
13 PUMOrg = P_Fbc(1)
BWD
FWD
JUMP
123
<PROGRAM> C1
9 For M1=1 To 8
10 P_100(M1) = P_Zero
11 Next M1
12 ' (2) Mov the robot to the origin
BWD
FWD
JUMP
123
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6'################################
7 '(1)Input a workpiece number to the
8 MWrkNo = 2 'Set a wo
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1
5 '# COPYRIGHT : MIT
6 '###############################
7 ' (1)Input a work number to the
8 MWrkNo = 1
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1 Edit
8 MWrkNo = 1
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1 Edit
8 MWrkNo = 2
TEACH
EDIT
DELETE
INSERT
123