Mitsubishi Electric CR800 Series Instruction Manual page 79

■ Correcting the taught position
As an example, the wait position (PWAIT) will be corrected.
New wait position
(ＰＷＡＩＴ)
<PROGRAM> 1
1 Mov pwait
2 Mov PGET +20
3 Mvs PGET
4 Hclose 1
DELETE
EDIT 123
FWD 123
JUMP
CHANGE
DIRECT
123
<POS.> XYZ 100% PWAIT
X:＋128.56 A:＋180.00
Y: ＋0.00 B: ＋90.00
Z:＋845.23 C:－180.00
L1: L2:
FL1: 7 FL2:
TEACH 123
MOVE
<POS.> XYZ 100% PWAIT
X:＋128.56 A:＋180.00
Y: ＋0.00 B: ＋90.00
Z:＋845.23 C:－180.00
L1: L2:
FL1: 7 FL2:
MOVE TEACH 123
◇◆◇ Calling out a position variable ◇◆◇
The displayed position variable can be scrolled up or down by pressing the [F3] (Next) or [F4] (Prev) key.
Change
Ins
INSERT CLOSE
[FUNCTION] key
BWD
CLOSE
0
⇒
Prev Next
0
Prev ⇒
Next
1) In the program edit screen, press the
[FUNCTION] key twice and change the
function display. [F2](change) Press the key
and display the position edit screen.
2) Press the [F3](Next) or the [F4](Prev) key,
and display "PWAIT" on the screen upper
right. The current registration coordinate
value of the position variable name PWAIT is
displayed.
3) Move the robot to the new standby position
by jog operation.
Refer to Page 53, "4.4 Jog
details on the jog operation, and section
Page 54, "4.5 Opening and closing the hand"
for detains on opening and closing the hand.
4Basic operations
operation"for
Programming 4-67