Debugging; Step Feed - Mitsubishi MELFA CR1D Instruction Manual

3Explanation of operation methods

3.6 Debugging

Debugging refers to testing that the created program operates correctly, and to correcting an errors if an
abnormality is found. These can be carried out by using the T/B's debugging function. The debugging func-
tions that can be used are shown below. Always carry out debugging after creating a program, and confirm
that the program runs without error.

(1) Step feed

The program is run one line at a time in the feed direction. The program is run in line order from the head or
the designated line.
Confirm that the program runs correctly with this process.
Using the T/B execute the program line by line (step operation), and confirm the operation.
Display the edit screen of the program which is the target of debugging. Perform the following operations
while pressing lightly on the enabling switch of the T/B after the servo has been turned on.
1) Execution of step feed
Press the [FUNCTION] key and change the function display. Pressing the [F1] (FWD) key is kept,
and the robot will start moving.
When the execution of one line is completed, the robot will stop, and the next line will appear on the
screen.
If [F1] (FWD) is released during this step, the robot will stop. And, detach the enabling switch (3 posi -
tion switch), or push in still more strongly -- thing servo-off can be carried out and execution can be
stopped.
During execution, the lamp on the controller's [START] switch will light. If execution of the one step is
completed, LED of the [START] switch will go out and LED of the [STOP] switch will turn it on. If the [F1]
key is detached, the cursor of the T/B screen will move to the following step.
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
JUMP
FWD
Step feed [F1]
Whenever it presses the function key corresponding to "FWD", step to the following step.
CAUTION
◇◆◇ About step operation ◇◆◇
"Step operation" executes the program line by line. The operation speed is slow, and the robot stops after
each line, so the program and operation position can be confirmed.
During execution, the lamp on the controller's [START] switch will light. Execution of the End command or
the Hlt command will not step feed any more.
◇◆◇ Change of the execution step ◇◆◇
The execution step can be changed by cursor movement by the arrow key, and jump operation ("JUMP").
3-41 Debugging
50%
⇒
123
BWD
Take special care to the robot movements during automatic operation. If any
abnormality occurs, press the [EMG.STOP] switch and immediately stop the robot.
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
JUMP 123
FWD
50%
⇒
BWD