Teaching And Setting Of Adjustment Variables ("1" Program); Teaching - Mitsubishi Electric CR800 Series Instruction Manual

11. Teaching and Setting of Adjustment Variables ("1" program)

* The tasks described in this chapter are required for high speed and accuracy tracking (conveyer
tracking and vision tracking).
* Refer to "12 Teaching Operation ("A1" Program)" for circular arc tracking.
This chapter explains operations required to run "1" program.
In addition, this chapter explains a method to check the operation in the condition that it was designated, and to
coordinate again.

Teaching

11.1.
The teaching of "Origin point position (position in which system is started)", "Waiting point position (position in
which it is waited that workpiece arrives)" and "Transportation point position (position in which the held
workpiece is put)" is executed.
Teach the origin position, waiting position and transportation point. The following explains how to perform these
operations.
1) Open "1" program using T/B.
2) Open the [Position data Edit] screen.
3) Display "PSave" in order to set the robot origin position when the system is started.
4) Move the robot to the origin position and teach it the position.
5) Display "PWait" in order to set the waiting position in which it is waited that workpiece arrives.
6) Move the robot to the waiting position and teach it the position.
7) Display "PPut" in order to set the transportation position.
8) Move the robot to the transportation position and teach it the position.
9) Display "PSave" at the starting point position on the [Position data Edit] screen. Turn on the servo by gripping
the deadman switch.
10) Push [F1] (MOVE) and move the robot to the position of "PSave".
<POS> JNT 100% Psave
X: -100.00 A:+0000.00
Y: -300.00 B: +90.00
Z: +400.00 C: +180.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH Prev
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11) Move the robot to the position of "PWait" and "PPut" pushing F1 (MOVE).
11 Teaching and Setting of Adjustment Variables ("1" program)
Flow direction
Next
(PSave)
Origin point
(PWait)
Waiting point
(PPut)
Transportation
point
Teaching 11-83