Creating The Program; Deciding The Operation Order - Mitsubishi Electric CR750-D Instruction Manual

4.7.1 Creating the program

(1) Deciding the operation order

Upward position to
grasping workpiece
Fig.4-11 ： Deciding the operation order
◇◆◇ Joint movement and linear movement ◇◆◇
The operation for which the robot movement path is not designated in particular is the "joint movement". The
operation for which the movement path is designated as linear is "linear movement".
If the robot could interfere with the peripheral devices, such as the workpiece, when moving to grasp or release
the workpiece, designate "linear movement" to prevent any interference.
Wait position
(3)
(4) Hand close
(5)
Position to grasp workpiece
Start
(1) Move to wait position (joint movement).
(2) Move to 20mm upward workpiece (joint movement).
(3) Move to position to grasp workpiece (linear movement).
(4) Grasp workpiece (hand close).
(5) Move 20mm upward (linear movement).
(6) Move to 20mm upward position to release workpiece
(joint movement).
(7) Move to position to release workpiece (linear movement).
(8) Release workpiece (hand open).
(9) Move 20mm upward (linear movement).
(10) Move to wait position (joint movement).
End
(6)
(7)
(9)
4Basic operations
：Joint movement
：Linear movement
：Teaching position
Upward position to
release workpiece
(8) Hand open
Position to release workpiece
Programming 4-89