Mitsubishi MELFA CR1D - Page 9

Contents
ii
Page
3.11 Operating the program control screen .................................................................................. 3-52
(1) Program list display ........................................................................................................ 3-52
(2) Copying programs ..................................................................................................................................................... 3-53
(3) Name change of the program (Rename) .......................................................................................................... 3-54
(4) Deleting a program(Delete) ................................................................................................................................... 3-55
(5) Protection of the program (Protect) ................................................................................................................ 3-56
3.12 Ooperation of operating screen ................................................................................................................................... 3-58
3.12.1 Display of the execution line ................................................................................................................................ 3-58
(1) Select the confirmation menu ............................................................................................................................. 3-58
(2) Step feed ...................................................................................................................................................................... 3-58
(3) Step jump ..................................................................................................................................................................... 3-61
(4) Step feed in another slot ....................................................................................................................................... 3-61
(5) Finishing of the confirmation screen. ............................................................................................................... 3-61
3.12.2 Test operation ........................................................................................................................................................... 3-62
(1) Select the test operation ...................................................................................................................................... 3-62
3.13 Operating the monitor screen ...................................................................................................................................... 3-63
(1) Input signal monitor .................................................................................................................................................. 3-63
(2) Output signal monitor .............................................................................................................................................. 3-65
(3) Input register monitor ............................................................................................................................................. 3-67
(4) Output register monitor ......................................................................................................................................... 3-68
(5) Variable monitor ........................................................................................................................................................ 3-71
(6) Error history ................................................................................................................................................................ 3-73
3.14 Operation of maintenance screen ............................................................................................................................... 3-74
3.15 Operation of the origin and the brake screen ........................................................................................................ 3-76
(1)
Oorigin ........................................................................................................................................................................... 3-76
(2) Brake .............................................................................................................................................................................. 3-76
3.16 Operation of setup / initialization screen ............................................................................................................... 3-78
(1) Initialize the program ............................................................................................................................................... 3-78
(2) Initialize the parameter ........................................................................................................................................... 3-79
(3) Initialize the battery ................................................................................................................................................. 3-80
(4) Operation ...................................................................................................................................................................... 3-81
(5) Time setup ................................................................................................................................................................... 3-81
(6) Version .......................................................................................................................................................................... 3-82
3.17 Operation of the initial-setting screen ..................................................................................................................... 3-83
(1) Set the display language ........................................................................................................................................ 3-83
(2) Adjustment of contrast .......................................................................................................................................... 3-85
4 MELFA-BASIC V ........................................................................................................................... 4-87
4.1 MELFA-BASIC V functions .................................................................................................... 4-87
4.1.1 Robot operation control .................................................................................................... 4-88
(1) Joint interpolation movement ......................................................................................... 4-88
(2) Linear interpolation movement ....................................................................................... 4-89
(3) Circular interpolation movement ..................................................................................... 4-90
(4) Continuous movement ................................................................................................... 4-92
(5) Acceleration/deceleration time and speed control .......................................................... 4-93
(6) Confirming that the target position is reached ................................................................ 4-95
(7) High path accuracy control ............................................................................................. 4-96
(8) Hand and tool control ..................................................................................................... 4-97
4.1.2 Pallet operation ................................................................................................................. 4-98
4.1.3 Program control .............................................................................................................. 4-104
(1) Unconditional branching, conditional branching, waiting .............................................. 4-104
(2) Repetition ..................................................................................................................... 4-106
(3) Interrupt ........................................................................................................................ 4-107
(4) Subroutine .................................................................................................................... 4-108
(5) Timer ............................................................................................................................ 4-109
(6) Stopping ....................................................................................................................... 4-110
4.1.4 Inputting and outputting external signals ........................................................................ 4-111