Samples; Robot Program - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8.4 Samples

Here, as samples for sequencer direct performance, describes the examples that the robot takes out works.
The examples are a robot program which takes out works, a ladder which uses sequencer direct perfor-
mance command plus hand control function, and an operation setting in the GOT screen.

8.4.1 Robot Program

'// Initial setting
HOPEN 1
'
'// Takes out a work
Mov P_DM(1),-200
Ovrd 70
Accel 50,50
Mvs P_DM(1)
Dly 0.2
HClose 1
Wait M_IN(901)=1
Dly 0.1
Ovrd 100
Accel 100,100
Mvs P_DM(1),-200
'
End
(3) Ovrd 70 (Reduce speed to 70%)
(4) Accel 50.50 (Reduce acceleration and
deceleration rate to 50%)
(5) Mvs P_DM(1) (Moves to the takeout
position)
(6) Dly 0.2 (Waits for 0.2sec, arrival check)
Fig.8-1:Robot operation
' Opens hand
' Moves over the takeout position
' Override 70%
' Accelerate and decelerate 50%
' Moves to the takeout position
' Waits for 0.2sec (arrival check)
' Closes hand
' Checks hand close
' Waits for 0.1sec
' Override 100%s
' Accelerate and decelerate 100%
' Moves over the takeout position
(2)Mov P_DM(1),-200
(Moves over the takeout
position)
200mm
This program is assumed to be a
(1)
vertical type robot. When a robot is
horizontal type, because tool's Z
axis is opposite to vertical type,
(2)
change the code as follows:
(3)
Mov P_Dm(1), -200
(4)
to Mov P_Dm(1), +200
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(1) HOpen 1 (Opens hand)
(10) Ovrd 100 (Put back speed to 100%)
(11) Accel 100,100 (Put back acceleration and
deceleration rate to 100%)
(12) Mvs P_DM(1),-200 (Moves over the takeout
position)
(7) HClose 1 (Closes hand)
(8) Wait M_In(901)=1 (Wait for close signal)
(9) Dly 0.1 (Waits for 0.1)
8Perform Sequencer Direct
Samples 2-100