Mitsubishi Electric CR800-D Series, Руководство пользователя

Страница: 66 / 194

Maintenance simulation 64
9.1. "1 Cycle" operation
This operation is performed in the simulation mode of the RT ToolBox3.
Specify the start line and end line of the robot program to estimate the parts replacement/ the
recommended maintenance time based on its 1 Cycle operation pattern.
[Note] When an actual machine is connected, the "1 Cycle" button
and the “Program“ button are not
displayed.
Note on 1 Cycle operation
(1) For command line that waits for signals to be input or robot status changes, use a comment to
set the stop time.
For a program waiting for input of signal from outside or change of the robot status variable, comment
out that portion and instead set a stop time (assumed) and specify the start line and end line including
that line.
(2) Use a program with no infinite loop.
A program that executes an infinite loop does not give the correct calculation result.
Check that the program is not an infinite loop in a FOR or GOTO statement.
(3) Include all instructions required for 1 cycle in the line selection range.
When selecting the start line and end line of a program, specify line numbers in such a way that all
instructions such as jump destinations of Gosub or hand word settings required for the robot to
perform 1 cycle operation are included in the range.
When sending/receiving external signals, temporarily set the stop time as a substitute for the signal
sending/receiving time and specify the line numbers including that line.
Example) If there is no jumping destination of a sub routine within the selected range, an error
(jumping destination does not exist) occurs and the maintenance simulation cannot be executed.
(4) About robot program "ESTPROG.prg"
When executing 1 cycle operation, "ESTPROG" is displayed as the robot program on the operating panel.
This is a program that is automatically generated when 1 cycle operation is executed. After 1 cycle
operation, you can delete this program if it is unnecessary.
Select the following lines.
Start line: 9
End line: 50
Set the start line and end line
so that all lines such as the
array declaration, the jumping
destination of Gosub
statement, and the standby
time necessary for 1 Cycle
operation are included.
9 Dim PA(3)
10 Loadset 8,8
11 Mov PHOME
12 Mvs PA(1)
13 GoSub *SUB1
•
•
30 End
31 *SUB1
33 Mov P01
35 Mvs PA(2)
•
•
49 Dly 1.0
50 Return
If selected lines are set as:
Start line: 11
End line: 30
Since there is no jumping
destination of the location
array declaration Gosub
statement within the
selected range, an error
occurs.
Example setting of line
selection range
49th line: Standby time for external signal