Mitsubishi CR750-Q Series - Page 61

13 Calibration of Conveyer and Robot Coordinate Systems ( “ A1 ” program)
13.2. Tasks
1) Set the encoder number to the X coordinates value of position variable: "PE."
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display "PE"
on the position name.
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the
details. Input the encoder number into X coordinates.
(d) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PE
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
CLOSE
DELETE
NAME
CHANGE
123
FL1:00000007 FL2:00000000
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
CLOSE
DIRECT
CHANGE
挿入
123
<POS> JNT 100% PE
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<POS> JNT 100% PE
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0000.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<POS> JNT 100% P5
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0000.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<PROGRAM> A1
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
CLOSE
DIRECT
CHANGE
挿入
123
Tasks 13-51