Teaching And Setting Of Adjustment Variables ("1" Program) - Mitsubishi Electric MELFA CR800-D Series User Manual

6.3.11 Teaching and Setting of Adjustment Variables ("1" program)

This chapter explains operations required to run "1" program.
In addition, this chapter explains a method to check the operation in the condition that it was designated, and
to coordinate again.
6.3.11.1. Teaching
The teaching of "Origin point position (position in which system is started)" and "Waiting point position (position
in which it is waited that workpiece arrives)") is executed.
Teach the origin position, waiting position and transportation point. The following explains how to perform
these operations.
1) Open "1" program using T/B.
2) Open the [Position data Edit] screen.
3) Display "PSave" in order to set the robot origin position when the system is started.
4) Move the robot to the origin position and teach it the position.
5) Display "PWait" in order to set the waiting position in which it is waited that workpiece arrives.
6) Move the robot to the waiting position and teach it the position.
7) Display "PSave" at the starting point position on the [Position data Edit] screen. Turn on the servo by
gripping the deadman switch.
8) Push [F1] (MOVE) and move the robot to the position of "PSave".
<POS> JNT 100% Psave
X: -100.00 A:+0000.00
Y: -300.00 B: +90.00
Z: +400.00 C: +180.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH 123
9) Move the robot to the position of "PWait" pushing F1 (MOVE).
(PSave)Origin point
(PWait)Waiting point
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6 Coordinated control for additional axes
Additional axis tracking 6-127