Mitsubishi CR750-Q Series - Page 128

21 Appendix
(4) 1.prg
1.prg
Start
1.prg
End
Origin return
Initialization
Tracked workpiece takeout
W orkpiece placing
<Origin return>
Start
Current height <
Origin heighe
Set the ovrd to 10%
Move to the
Origin position
No
Yes
<Origin return>
End
Servo ON
Acquire the
current position
Move to the
escape position
Set the ovrd to 100%
<Initialization>
Start
<Initialization>
End
Set the acceleration
and deceleration
to 100%
Set the ovrd to 100%
Turning optimal
acceleration/
deceleration ON
Turning continuous
movrment control OFF
Clear the General-
purpose output
Open the hand
Clear the data in the
tracking buffer
Acquire the model
number set
by program C
Does task 2 start?
Yes
No
Start program CM1
by slot 2.
Set the priority of
each slot.
21-118 Chart of sample program