Mitsubishi Electric CR800 Series Instruction Manual page 110

12 Teaching of the Circular Arc Tracking ("A1" Program)
(9) Press the [F1] (FWD) key and execute step feed. "(3)Set the encoder number to the variable "MEncNo""is
displayed.
Here, specify the
If you want to change the
(a) Display the following Statement.
< PROGRAM > A1
15 '(3)ｴﾝｺ-ﾀﾞﾊﾞﾝｺﾞｳｦ ﾍﾝｽｳ"MEncNo
16 '(3)Set the encoder number to
17 MEncNo = 1
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DELETE
(b) Press the [F1] (EDIT) key, and
Example) specify a
< PROGRAM > A1
17 MEncNo = 1
EDIT
DELETE
(c) Press the [EXE] key,
< PROGRAM > A1
15 '(3)ｴﾝｺ-ﾀﾞﾊﾞﾝｺﾞｳｦ ﾍﾝｽｳ"P_102"
16 '(3)Set the encoder number to
17 MEncNo = 3
EDIT DELETE
(10) Press the [F1] (FWD) key and execute step feed. "(4)Set the input signal number of sensor to the variable
"MSenNo"" is displayed.
< PROGRAM > A1
20 '(4)ｾﾝｻﾉ ﾆｭｳﾘｮｸｼﾝｺﾞｳﾊﾞﾝｺﾞｳｦ
21 '(4)Set the input signal number of
22 MSenNo = 801
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Specify the number of the sensor that monitors a workpiece.
To change the sensor number, as with the procedure (6), change the number input after "MSenNo=" in the
program.
Use the SKIP input signal of the robot controller. Set any number. (The sample program uses number 801.)
12-98 Operation procedure
encoder number.
encoder number, please edit the program as follows.
INSERT TEACH
123
then specify the encoder number in the variable
"3"
Edit
INSERT TEACH
123
accept the changes.
INSERT TEACH
123
INSERT TEACH
123
< PROGRAM > A1
17 MEncNo = 3
EDIT
DELETE INSERT
123
"MEncNo".
Edit
TEACH