Mitsubishi Electric CR800 Series Instruction Manual page 109

(6) Press the [FUNCTION] key, and change the function display
< PROGRAM > A1
1'###############################
2 '# Conveyor circular arc tracking
3 '# Program name : A1.prg
4 '# Date/Version : 2018.02.14 / 1.0
EDIT DELETE INSERT
123
(7) Press the [F1] (FWD) key and execute step feed. "(1)Set the workpiece kind number( = condition number)
to the variable "MWrkNo"" is displayed. Execute work according to the comment in the robot program.
< PROGRAM > A1
4 '# Date/Version : 2018.02.14 / 1.0
5 '# Copyright (C) 2018 Mitsubishi El
6 '###############################
7 '(1)ﾜ-ｸﾉ ﾋﾝｼｭﾊﾞﾝｺﾞｳ(=ｼﾞｮｳｹﾝﾊﾞﾝｺﾞ
JUMP
FWD
123
Here, specify the condition number.
If you want to change the condition number, please edit the program as follows.
(a) Display the following Statement.
< PROGRAM > A1
7 '(1)ﾜ-ｸﾉ ﾋﾝｼｭﾊﾞﾝｺﾞｳ(=ｼﾞｮｳｹﾝﾊﾞﾝ
8 '(1)Set the workpiece kind number(
9 MWrkNo% = 1
10 '
EDIT
DELETE
123
(b) Press the [F1] (EDIT) key, and
Example) specify a "2"
< PROGRAM > A1
9 MWrkNo% = 1
EDIT
DELETE
123
(c) Press the [EXE] key and the change is determined.
< PROGRAM > A1
7 '(1)ﾜ-ｸﾉ ﾋﾝｼｭﾊﾞﾝｺﾞｳ(=ｼﾞｮｳｹﾝﾊﾞﾝ
8 '(1)Set the workpiece kind number(
9 MWrkNo% = 2
10 '
EDIT
DELETE
123
(8) Press the [F1] (FWD) key and execute step feed. "(2)Confirm that Tool is set" is displayed.
If you are able to set the tool length, or if the setting is not required in "6.2 Operation Parameters", go to the
next.
If you need to set, set the tool length, refer to "6.2 Operation Parameters".
TEACH
BWD
INSERT TEACH
then specify the condition number in the variable "MWrkNo%".
Edit
INSERT TEACH
INSERT TEACH
12 Teaching of the Circular Arc Tracking ("A1" Program)
< PROGRAM > A1
1'###############################
2 '# Conveyor circular arc tracking
3 '# Program name : A1.prg
4 '# Date/Version : 2018.02.14 / 1.0
FWD JUMP
123
< PROGRAM > A1
9 MWrkNo% = 2
EDIT
DELETE INSERT
123
BWD
Edit
TEACH
Operation procedure 12-97