Mitsubishi Electric CR750-D Series, Инструкция по эксплуатации, Страница: 108 / 126

4-96 Programming
4Basic operations
■ Teach the robot operation position.
1) Move the robot with jog operation, and set
the end of the hand to the position for grasping
the workpiece. When the position has been set,
open and close the hand to confirm that the
workpiece can be grasped.
Refer to Page 86, "4.5Jog operation" for details
on the jog operation, and section Page 87,
"4.6Opening and closing the hand" for detains
on opening and closing the hand.
2) In the program edit screen, press the
[FUNCTION] key twice and change the
function display. [F2](change) Press the key
and display the position edit screen.
3) Press the [F3](Next) or the [F4](Prev) key,
and display "PGET" on the screen upper
right.
The current registration coordinate value of
the position variable name PGET is
displayed.
4) Press the [F2] (teaching) key.
The teaching confirmation screen is
displayed.
5) Press the [F1] (being) key and register the
position.
6) Teach PPUT (position to place workpiece)
and PWAIT (wait position) in the same
manner.
This completes teaching of the robot operation positions.
ワーク
ハンド
Set the position with jog operation (Teaching PGET)
Work
Hand
◇◆◇ Effective use of jog mode ◇◆◇
When the robot's current position is greatly separate from the target position, move the robot in axis units with
the "JOINT JOG mode", to approach the position.
If the target position is nearby, move linearly with the "XYZ JOG mode", and finely adjust the position. The
position can be set accurately by delaying the override (operation speed) at this time.
<PROGRAM> 1 Ins
10 Dly 1.0
11 Mvs PPUT, +20
12 Mov PWAIT
13 End
CLOSE
123
BWD 123
CLOSE
123
INSERT DELETE
EDIT
JUMP
FWD
CHANGE DIRECT
[FUNCTION] key
<POS.> JNT 100% PGET
X:＋128.56 A:＋180.00
Y: ＋0.00 B: ＋90.00
Z:＋845.23 C:－180.00
L1: L2:
FL1: 7 FL2: 0
Next
123 TEACH MOVE
Prev ⇒
<PROGRAM> 1
PGET
RECORD CURRENT POSITION.
OK?
No 123 Yes
<POS.> JNT 100% PPUT
X:＋128.56 A:＋180.00
Y: ＋0.00 B: ＋90.00
Z:＋845.23 C:－180.00
L1: L2:
FL1: 7 FL2: 0
Next 123 TEACH
MOVE
Prev ⇒
◇◆◇ Changing between the command editing screen and position editing screen. ◇◆◇
The commands are edited on the command editing screen, and the positions are edited on the position editing
screen.
To change from the command editing screen to the position editing screen, press the [F3] (Cange) keys.
To change from the position editing screen to the command editing screen, press the [F2] (Cange) keys.