Mitsubishi Electric CR800-D Series User Manual page 67

Move the current position of the robot to the robot operation start position
1
of 1 Cycle operation.
If the current position of the robot is not at the start position of 1 Cycle operation, if 1 Cycle operation
starts, the robot moves to the operation start position first. Since that operation is included in the
calculation by the maintenance simulation, calculation cannot give the correct 1 Cycle operation
result.
Immediately after starting RT ToolBox3, when performing 1 Cycle operation after the robot is
changed to an arbitrary posture using the JOG operation or the program is paused while running,
move the current position of the robot to the start position of 1 Cycle operation. Example moving
methods of the current position of the robot are described below.
• Use direct execution to move the robot to the operation start position.
• Use step operation to execute up to the start line of 1 Cycle operation.
• Execute 1 Cycle operation once (Step 2 to Step 7) and use the maintenance simulation results of
the second and subsequent time.
Example) When the start
line of 1 Cycle operation is
the 9th line, the operation
start position is PHOME.
8 • • •
9 Dim PA(3)
10 Loadset 8,8
11 Mov PHOME
12 Mov P1
13 Mvs P2
14 • • •
2
Open the Maintenance Simulation screen.
1) Start RT ToolBox3 where the MELFA Smart Plus card function code is set.
2) Open the RT ToolBox3 project using <Simulation>.
3) From the RT ToolBox3 project tree, click [Maintenance] - [Predictive Maintenance].
4) From the predictive maintenance tree, select [Maintenance Simulation].
O
Predictive
Maintenance
p
e
Maintenance Simulation
n
Immediately after
RT ToolBox3
starts
Arbitrary posture
Maintenance Simulation screen
Mov PHOME
Step operation
1 Cycle operation and
others
Operation start
position PHOME
Execute 1 Cycle operation
Maintenance simulation 65