Describing And Creating The Program - Mitsubishi Electric CR750-D Instruction Manual

(3) Describing and creating the program

■ Convert the target robot operations and work into commands.
Refer to the separate manual "Instruction Manual: Detailed explanations of functions and operations" for details
on the commands.
Table 4-2 ： Commands used
Target operation and work
Joint movement
Linear movement
Hand open
Hand close
Wait
End
Note) Upward movement is designated at a position along the Z axis of the TOOL coordinate system, and the
direction is designated with the + and - signs. Confirm the Z axis direction of the TOOL coordinate system.
Then, designate the correct sign (direction) that matches the robot being used. The example of designation
above is an example using a horizontal multiple-joint type robot.
■ Program the converted commands
Upward position to
grasping workpiece
Start
(1) Move to wait position (joint movement) ...................................................................1 Mov PWAIT
(2) Move to 20mm upward workpiece (joint movement)...........................................2 Mov PGET,+20
(3) Move to position to grasp workpiece (linear movement)...................................3 MVS PGET
(4) Grasp workpiece (hand close).......................................................................................4 HClose 1
(5) Waits for 1 seconds...........................................................................................................5 Dly 1.0
(6) Move 20mm upward (linear movement).....................................................................6 MVS PGET,+20
(7) Move to 20mm upward position to release workpiece (joint movement) ...7 Mov PPUT,+20
(8) Move to position to place workpiece (linear movement)...................................8 MVS PPUT
(9) Release workpiece (hand open)....................................................................................9 HOpen 1
(10) Waits for 1 seconds ........................................................................................................10 Dly 1.0
(11) Move 20mm upward (linear movement) ..................................................................11 MVS PPUT,+20
(12) Move to wait position (joint movement) .................................................................12 Mov PWAIT
End...................................................................................................................................................13 End
Hand ････ Up to four hands can be installed. However, in the above program, the 1st hand connected to
hand 1 is the target.
Fig. 4-13 ： Describing the program
Command
Mov Move to position variable PWAIT
Move to 20mm upward position variable
PGET
Mvs Move to position variable PGET
Move to 20mm upward position variable
PGET
Hopen Open hand 1
Hclose Close hand 1
Dly Wait 1 second
End End the program
Wait position
(ＰＷＡＩＴ)
Position to grasp workpiece
(ＰＧＥＴ)
Example of designation
Mov PWAIT
Mov PGET,+20
Mvs PGET
Mvs PGET,+20
Hopen 1
Hclose 1
Dly 1.0
End
Upward position to
release workpiece
Position to release
workpiece
(ＰＰＵＴ)
4Basic operations
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Programming 4-91