Mitsubishi CRn-500 Series Instruction Manual page 88

8.User Mechanism Settings, Operation, and Commands
• Program example
(1) Details of work
In this system, a standard robot unloads a work from a rotary axis (position "<1>") and transports
it to a station (position "<2>").
• Flow of work
(i) A work is transported to rotation axis from the external location.
(ii) The rotary axis rotates and transports a work to the position from which the robot unloads the
work.
(iii) The robot unloads the work from the rotary axis and transports the work to the station.
(iv) The work is transported from the station to the external location.
(2) Robot Program Structure
Provide one robot program for each mechanism, as shown below
Program name
74
<2>
Station
1 Operation program of standard robots
2 Operation program of rotation axis
Robotarm(Mechanism No.1)
<1>
Rotation axis (Mechanism No.2)
Explanation
Flow of work