Create A Program; Execute A Program; End The Operation - Mitsubishi CRn-500 Series Instruction Manual

7.3.4 Create a program

As an example, a program to move the robot additional axis is created.
MELFA_BASIC IV
10 MOV P1
20 MOV P2
30 END
MOVEMASTER command
10 MO 1
20 MO 2
30 ED
For the methods of the program input and position data registration, refer to the programming in
"Instruction Manual/ Detailed explanations of functions and operations".
Moreover, for the registration method of the position variables of the robot additional axis, refer to "this
manual/7.4.5Operation of position variable".

7.3.5 Execute a program

Try to execute a program created.
From the teaching pendant, confirm the motion in the step feed mode (For the step feed method, refer to
the step feed in "Instruction Manual/ Detailed explanations of functions and operations". If any problem
does not occur,
(1) Turn the mode switch of the teaching pendant to "DISABLE".
(2) Turn the mode switch on the operation panel on the front of the controller to "Auto(OP.)".
(3) Press [CHNG DISP] switch on the operation panel on the front of the controller to display the
program No.
(4) Press [UP] and [DOWN] switches on the operation panel on the front of the controller to select a
program.
(5) Press the [SVO ON] switch on the operation panel on the front of the controller to turning the servo
ON, if the servo OFF.
(6) Press [START] switch on the operation panel on the front of the controller to execute a program.

7.3.6 End the operation

Confirm that the program is interrupted or stopped, proceed with the following operation and turn OFF
the power supply of the additional axis system.
(1) Turn the mode switch of the teaching pendant to "DISABLE".
(2) Turn the mode switch on the operation panel on the front of the controller to "Auto(OP.)".
(3) Press [SRV OFF] key on the operation panel on the front of the controller to turn OFF the robot
controller and the additional axis servo.
(4) Turn OFF the power supply of the controller.
(5) Turn OFF the power supply of the servo system.
Though an alarm occurs on the servo system side during operation of (4) to (5), continue the operation
and shut down the power supply of the servo system, and any problem will not occur.
7.Setting, Operation and Command Explanation of Robot Additional Axis
27