Mitsubishi MELFA CR1D, Инструкция по эксплуатации

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Contents
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Page
3.11 Operating the program control screen .................................................................................. 3-52
(1) Program list display ........................................................................................................ 3-52
(2)
Copying programs ..................................................................................................................................................... 3-53
(3)
Name change of the program (Rename) .......................................................................................................... 3-54
(4)
Deleting a program(Delete) ................................................................................................................................... 3-55
(5)
Protection of the program (Protect) ................................................................................................................ 3-56
3.12
Ooperation of operating screen ................................................................................................................................... 3-58
3.12.1
Display of the execution line ................................................................................................................................ 3-58
(1)
Select the confirmation menu ............................................................................................................................. 3-58
(2)
Step feed ...................................................................................................................................................................... 3-58
(3)
Step jump ..................................................................................................................................................................... 3-61
(4)
Step feed in another slot ....................................................................................................................................... 3-61
(5)
Finishing of the confirmation screen. ............................................................................................................... 3-61
3.12.2
Test operation ........................................................................................................................................................... 3-62
(1)
Select the test operation ...................................................................................................................................... 3-62
3.13
Operating the monitor screen ...................................................................................................................................... 3-63
(1)
Input signal monitor .................................................................................................................................................. 3-63
(2)
Output signal monitor .............................................................................................................................................. 3-65
(3)
Input register monitor ............................................................................................................................................. 3-67
(4)
Output register monitor ......................................................................................................................................... 3-68
(5)
Variable monitor ........................................................................................................................................................ 3-71
(6)
Error history ................................................................................................................................................................ 3-73
3.14
Operation of maintenance screen ............................................................................................................................... 3-74
3.15
Operation of the origin and the brake screen ........................................................................................................ 3-76
(1)
Oorigin ........................................................................................................................................................................... 3-76
(2)
Brake .............................................................................................................................................................................. 3-76
3.16
Operation of setup / initialization screen ............................................................................................................... 3-78
(1)
Initialize the program ............................................................................................................................................... 3-78
(2)
Initialize the parameter ........................................................................................................................................... 3-79
(3)
Initialize the battery ................................................................................................................................................. 3-80
(4)
Operation ...................................................................................................................................................................... 3-81
(5)
Time setup ................................................................................................................................................................... 3-81
(6)
Version .......................................................................................................................................................................... 3-82
3.17
Operation of the initial-setting screen ..................................................................................................................... 3-83
(1)
Set the display language ........................................................................................................................................ 3-83
(2)
Adjustment of contrast .......................................................................................................................................... 3-85
4 MELFA-BASIC V ........................................................................................................................... 4-87
4.1 MELFA-BASIC V functions .................................................................................................... 4-87
4.1.1 Robot operation control .................................................................................................... 4-88
(1) Joint interpolation movement ......................................................................................... 4-88
(2) Linear interpolation movement ....................................................................................... 4-89
(3) Circular interpolation movement ..................................................................................... 4-90
(4) Continuous movement ................................................................................................... 4-92
(5) Acceleration/deceleration time and speed control .......................................................... 4-93
(6) Confirming that the target position is reached ................................................................ 4-95
(7) High path accuracy control ............................................................................................. 4-96
(8) Hand and tool control ..................................................................................................... 4-97
4.1.2 Pallet operation ................................................................................................................. 4-98
4.1.3 Program control .............................................................................................................. 4-104
(1) Unconditional branching, conditional branching, waiting .............................................. 4-104
(2) Repetition ..................................................................................................................... 4-106
(3) Interrupt ........................................................................................................................ 4-107
(4) Subroutine .................................................................................................................... 4-108
(5) Timer ............................................................................................................................ 4-109
(6) Stopping ....................................................................................................................... 4-110
4.1.4 Inputting and outputting external signals ........................................................................ 4-111