Registering The Current Position Data - Mitsubishi MELFA CR1D Instruction Manual

3Explanation of operation methods

(5) Registering the current position data

Teach the position variable which moves the robot to the movement position by jog operation etc., and is using
the position by the program (registration). It is overwritten if already taught (correction). There are the teaching in
the command edit screen and the teaching in the position edit screen.
(a)Teaching in the command edit screen
Call the step which is using the position variable to teach.
The operating procedure in the case of teaching the current position to the below to the position variable P5
of step 5"Mvs P5" is shown. Move the robot to the movement position by jog operation etc. beforehand.
1) Call the step 5
Press the function key corresponding to "JUMP", then step number input screen is displayed. Press the
[5], [EXE] key, move cursor to step 5.
Step 5 can be called even if it moves the cursor to Step 5 by the [ ↑ ], [ ↓ ] key.
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
JUMP
FWD
Call the step 5 [F2]
2) T eaching of the current position
Press the function key corresponding to "Teach"([F4]), then the confirmation screen is displayed.
<PROGRAM> 1
4 Mov P4
5 Mov P5
6 End
DELETE
EDIT
Register the current position [F4]
3) Press the function key corresponding to "Yes", then the robot's current position data will be taught to P5,
and display will return to the original command edit screen. The teaching can be canceled if the function
key corresponding to " N o" is pressed.
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
Yes
Register the current position [F1]
The teaching of the current position was completed above.
◇◆◇ Only one position variable is the target. ◇◆◇
If the read step is using two or more position variables, such as "Mov P1+P2" and "P1=P10", the position
variable of most left-hand side is the target of the teaching.
It is the following page if it teaches other variables. Refer to "(b)Teaching in the position edit screen."
3-35 Programming
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123
BWD
50%
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123
INSERT TEACH
123 No
<PROGRAM> 1
STEP ( 5
123
Call the step 5 [5] [EXE]
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
Yes 123
<PROGRAM> 1
4 Mov P4
5 Mov P5
6 End
DELETE 123
EDIT INSERT
50%
)
CLOSE
No
50%
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TEACH