Mitsubishi Electric CR750-D Series, Instruction Manual

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4-88 Programming
4Basic operations
4.7 Programming
The procedures from creating the program to automatic operation are explained in order using a simple procedure
as an example.
(1) Creation procedures
Fig.4-9 ： Program creation procedures
(2) Robot work
Assume that the robot is going to carry the workpiece from the left to the right.
Fig.4-10 ： Example of work
No
Yes
Start
Deciding the operation order
Decide the robot operation order, operation path
(necessity of linear movement), and the work at each
operation position (hand open/close, etc).
Deciding the operation position name
Teach the robot operation position in the position
variables.
Decide the position variable name.
Describing and creating the program
Based on the decided operation order and operation
position name, convert the robot operations and work
into commands. Describe the commands in the program
and save in the controller.
Teaching the operation position
Move the robot to each operation position with jog
operation, and teach each position in the position
variables.
Confirmation of program and operation position
Execute the program saved in the controller line by line,
and confirm that the program and operation positions
are correctly saved.
Judgment: OK?
Correcting the program
If any mistakes were found in the robot operation or
work during the program confirmation, correct the
program.
Correcting the position
If any mistakes were found in the robot operation
position during the program confirmation, correct the
taught position.
Automatic operation
Automatically execute the completed program.
End
Carry the workpiece
Workpiece