Mitsubishi Electric MELFA CR800-D Series - Page 135

6 Coordinated control for additional axes
Additional axis tracking 6-125
(8) Press the [F1] (FWD) key and execute step feed. “(3)Move the robot to the work … “is displayed.
Execute work according to the comment in the robot program.
Move the robot to the work base coordinate.
Origin point position
(User mecha)
Work base coordinate
(9) Press the [F1] (FWD) key and execute step feed. “(4)Perform step operation until … “is displayed.
Execute work according to the comment in the robot program.
<PROGRAM> C1
16 ' (4)Perform step operation until
17 P_101(MWrkNo) = Inv(PUMOrg)*P_10
18 M_00# = MwrkNo
19 End
BWD
FWD
JUMP
123
<PROGRAM> C1
13 PUMOrg = P_Fbc(1)
14 ' (3)Move the robot to the work
15 P_100(MWrkNo)=P_Fbc(1)
16 ' (4)Perform step operation until
BWD
FWD
JUMP
123
<PROGRAM> C1
12 ' (2) Mov the robot to the origin
13 PUMOrg = P_Fbc(1)
14 ' (3)Move the robot to the work
15 P_100(MWrkNo)=P_Fbc(1)
BWD
FWD
JUMP
123
<PROGRAM> C1
11 Next M1
12 ' (2) Mov the robot to the origin
13 PUMOrg = P_Fbc(1)
14 ' (3)Move the robot to the work
BWD
FWD
JUMP
123