Mitsubishi Electric MELFA CR800-D Series User Manual page 134

6 Coordinated control for additional axes
(a) Display the following command.
<PROGRAM> C1
5 '# COPYRIGHT
6 '###############################
7 ' (1)Input a work number to the
8 MWrkNo = 1
EDIT DELETE
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(b) Press the [F1](FWD) key and specify the workpiece number in the variable "MWrkNo"
Example）When "2" is specified as the workpiece number.
<PROGRAM> C1
8 MWrkNo = 1
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DELETE
(c) Press the [F1] (FWD) key and the change is determined.
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6'################################
7 '(1)Input a workpiece number to the
8 MWrkNo = 2
EDIT
DELETE
(7) Press the [F1] (FWD) key and execute step feed. "(2) Mov the robot to the origin ... "is displayed.
Execute work according to the comment in the robot program.
<PROGRAM> C1
9 For M1=1 To 8
10 P_100(M1) = P_Zero
11 Next M1
12 ' (2) Mov the robot to the origin
JUMP
FWD 123
<PROGRAM> C1
10 P_100(M1) = P_Zero
11 Next M1
12 ' (2) Mov the robot to the origin
13 PUMOrg = P_Fbc(1)
FWD JUMP
123
Move the robot to the origin point position of user mechanism.
Origin point position
(User mecha)
6-124 Additional axis tracking
: MIT
INSERT TEACH
Edit
INSERT TEACH
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'Set a wo
INSERT TEACH
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BWD
BWD
Work base coordinate
<PROGRAM> C1 Edit
8 MWrkNo = 2
EDIT
DELETE INSERT
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TEACH