Mitsubishi Electric MELFA CR800-D Series User Manual page 127

(10) Press the [F1] (FWD) key and execute step feed. "(5) Move the robot to ... "is displayed.
<PROGRAM> A1
12 PBOfstO = P_Fbc(1)
13 '(4)Move the robot to the X axis
14 PBOfstX = P_Fbc(1)
15 '(5)Move the robot to the +Y dire
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123
<PROGRAM> A1
13 '(4)Move the robot to the X axis
14 PBOfstX = P_Fbc(1)
15 '(5)Move the robot to the +Y dire
16 PBOfstY = P_Fbc(1)
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Set a point in the positive Y Direction of the X-Y plane of the user mechanism origin in the robot
coordinate system.
Origin point position
(User mecha)
Move the hand
(11) Press the [F1] (FWD) key and execute step feed. "(6) Perform step operation ... "is displayed.
<PROGRAM> A1
14 PBOfstX = P_Fbc(1)
15 '(5)Move the robot to the +Y dire
16 PBOfstY = P_Fbc(1)
17 '(6)Perform step operation until
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123
<PROGRAM> A1
19 PrmRead MMechNo, CPrmName$, PBO
20 PBOfst = SetPos(PBOfst2.X,PBOfs
21 PrmWrite MMechNo, CPrmName$, PB
22 End
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Origin point position
(User mecha)：
PBOfstX
Teaching point：
PBOfstX
X
INSERT TEACH
INSERT TEACH
Y
PBOfstY
X
Y
Origin point position
(Robot coordinate system)
INSERT TEACH
INSERT TEACH
Z
Teaching point：
PBOfstO
Y
Teaching point：
PBOfstY
X
6 Coordinated control for additional axes
Additional axis tracking 6-117