Mitsubishi Electric MELFA CR800-D Series User Manual page 126

6 Coordinated control for additional axes
(8) Press the [F1] (FWD) key and execute step feed. "(3) Move the robot to ... "is displayed.
<PROGRAM> A1
8 MMechNo = 3
9 '(2)Input a parameter name "BSWO
10 CPrmName$ = "BSWOFST1"
11 '(3)Move the robot to the origin
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123
<PROGRAM> A1
9 '(2)Input a parameter name "BSWO
10 CPrmName$ = "BSWOFST1"
11 '(3)Move the robot to the origin
12 PBOfstO = P_Fbc(1)
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DELETE
123
Set the the origin of the user mechanism in the robot coordinate system.
Origin point position
(User mecha)
Move the hand
(9) Press the [F1] (FWD) key and execute step feed. "(4) Move the robot to ... "is displayed.
<PROGRAM> A1
10 CPrmName$ = "BSWOFST1"
11 '(3)Move the robot to the origin
12 PBOfstO = P_Fbc(1)
13 '(4)Move the robot to the X axis
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123
<PROGRAM> A1
11 '(3)Move the robot to the origin
12 PBOfstO = P_Fbc(1)
13 '(4)Move the robot to the X axis
14 PBOfstX = P_Fbc(1)
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DELETE
123
Set a point on the X axis of the user mechanism origin in the robot coordinate system.
Origin point position
(User mecha)
Move the hand
6-116 Additional axis tracking
INSERT TEACH
INSERT TEACH
Y
PBOfstO
X
Y
Origin point position
(Robot coordinate system)
INSERT TEACH
INSERT TEACH
Y
PBOfstX
X
Y
Origin point position
(Robot coordinate system)
X
X