Mitsubishi Electric CR750-D Instruction Manual page 108

4Basic operations
■ Teach the robot operation position.
Set the position with jog operation (Teaching PGET)
Hand
ハンド
Work
ワーク
◇◆◇ Effective use of jog mode ◇◆◇
When the robot's current position is greatly separate from the target position, move the robot in axis units with
the "JOINT JOG mode", to approach the position.
If the target position is nearby, move linearly with the "XYZ JOG mode", and finely adjust the position. The
position can be set accurately by delaying the override (operation speed) at this time.
<PROGRAM> 1
10 Dly 1.0
11 Mvs PPUT, +20
12 Mov PWAIT
13 End
EDIT DELETE 123
123
FWD
JUMP
CHANGE
DIRECT
123
<POS.> JNT 100% PGET
X:＋128.56
Y: ＋0.00
Z:＋845.23
L1:
FL1: 7
MOVE TEACH 123
<PROGRAM> 1
PGET
RECORD CURRENT POSITION.
OK?
Yes 123
<POS.> JNT 100% PPUT
X:＋128.56
Y: ＋0.00
Z:＋845.23
L1:
FL1: 7 FL2:
TEACH 123
MOVE
This completes teaching of the robot operation positions.
◇◆◇ Changing between the command editing screen and position editing screen. ◇◆◇
The commands are edited on the command editing screen, and the positions are edited on the position editing
screen.
To change from the command editing screen to the position editing screen, press the [F3] (Cange) keys.
To change from the position editing screen to the command editing screen, press the [F2] (Cange) keys.
4-96 Programming
Ins
INSERT CLOSE
[FUNCTION] key
BWD
CLOSE
A:＋180.00
B: ＋90.00
C:－180.00
L2:
FL2: 0
Prev ⇒
Next
No
A:＋180.00
B: ＋90.00
C:－180.00
L2:
0
⇒
Prev Next
1) Move the robot with jog operation, and set
the end of the hand to the position for grasping
the workpiece. When the position has been set,
open and close the hand to confirm that the
workpiece can be grasped.
Refer to Page 86, "4.5Jog
on the jog operation, and section
"4.6Opening and closing the hand"
on opening and closing the hand.
2) 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.
3) Press the [F3](Next) or the [F4](Prev) key,
and display "PGET" on the screen upper
right.
The current registration coordinate value of
the position variable name PGET is
displayed.
4) Press the [F2] (teaching) key.
The teaching confirmation screen is
displayed.
5) Press the [F1] (being) key and register the
position.
6) Teach PPUT (position to place workpiece)
and PWAIT (wait position) in the same
manner.
operation"for details
Page 87,
for detains