Mitsubishi Electric MELFA BFP-A3614, Руководство пользователя

Страница: 105 / 212

-94-
7.2 Teaching Position Search
The "teaching position search" function is used for teaching the current position with the force sense
control enabled.
The "position displayed on the teaching box" is defined with the position data when the force sense
control is enabled.
When the robot is moved by using the force sense control after the force sense control is enabled, the
actual position of the robot will be the "position displayed on the teaching box" with the amount of
offset by the force sense control, which is different from the "position displayed on the teaching box".
(The position displayed on the teaching box does not change.)
If the teaching operation is performed on the teaching box with the difference remains, since the
"position displayed on the teaching box" will be taught to the position variables, add the offset amount
by the force sense control before teaching.
(Refer to "
Chapter7 7.1 Teaching Position Precautions ″ in the previous page.)
By executing this function, the "position displayed on the teaching box" can be replaced with the
"actual position" with force sense control enabled.
* Even this function is not executed and the force sense control disabled, the "actual position" can be
taught.
[Teaching position search → Teach current position]
Step How to operate T/B screen
Description of the operation
method
1
<Instruction editing window> Create a new program on the
teaching box, and open it.
(The program number is 1 as
an example.)
2 <JOG operation screen> Press the [JOG] key and
display the JOG operation
screen.
3
<JOG operation screen> Press the [FUNCTION] key
and display "FORCE" as the
function menu at the bottom of
the screen.
Press the [F3] key ("FORCE")
and display the <FORCE>
screen.