Mitsubishi MELFA CR1D, Инструкция по эксплуатации

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3-35
Programming
3Explanation of operation methods
(5) Registering the current position data
Teach the position variable which moves the robot to the movement position by jog operation etc., and is using
the position by the program (registration). It is overwritten if already taught (correction). There are the teaching in
the command edit screen and the teaching in the position edit screen.
(a)Teaching in the command edit screen
Call the step which is using the position variable to teach.
The operating procedure in the case of teaching the current position to the below to the position variable P5
of step 5"Mvs P5" is shown. Move the robot to the movement position by jog operation etc. beforehand.
1) Call the step 5
Press the function key corresponding to "JUMP", then step number input screen is displayed.
Press the
[5], [EXE] key, move cursor to step 5.
Step 5 can be called even if it moves the cursor to Step 5 by the [ ↑ ], [ ↓ ] key.
2)
T
eaching of the current position
Press the function key corresponding to "Teach"([F4]), then the confirmation screen is displayed.
3) Press the function key corresponding to "Yes", then the robot's current position data will be taught to P5,
and display will return to the original command edit screen. The teaching can be canceled if the function
key corresponding to "
N
o" is pressed.
The teaching of the current position was completed above.
Call the step 5 [F2]
Call the step 5 [5] [EXE]
<PROGRAM> 1 50%
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
BWD
123 JUMP FWD
⇒
<PROGRAM> 1 50%
STEP ( 5 )
CLOSE 123
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
No 123 Yes
Register the current position [F4]
<PROGRAM> 1 50%
4 Mov P4
5 Mov P5
6 End
TEACH 123 DELETE EDIT INSERT
⇒
Register the current position [F1]
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
No 123 Yes
<PROGRAM> 1 50%
4 Mov P4
5 Mov P5
6 End
TEACH 123 DELETE EDIT INSERT
⇒
◇◆◇ Only one position variable is the target. ◇◆◇
If the read step is using two or more position variables, such as "Mov P1+P2" and "P1=P10", the position
variable of most left-hand side is the target of the teaching.
It is the following page if it teaches other variables. Refer to "(b)Teaching in the position edit screen."