Mitsubishi CRn-500 Series Instruction Manual page 55

• Program example
(1) Details of work
The operation of this system consists of a standard robot unloading a work from station A
(position "<1>") and transporting the work to station B (position "<2>").
In station B, the time required for teaching will be saved by using the pallet function.
To use the pallet function, it is necessary to enable synchronous control of the robot's additional
axis, however.
(For details on synchronous control, refer to "7.5.2Synchronous control of robot additional axis
(travel axis)."
• Flow of work
(i) A work is transported to station A from the external location.
(ii) When the work is transported, the robot unloads the work from station A, and palletizes the work
onto the work placement table of station B.
(iii) When the work placement table of station B becomes full, the works will be transported to the
external location.
(2) Robot Program Structure
Prepare one robot program as shown below
Program name
1
7.Setting, Operation and Command Explanation of Robot Additional Axis
Explanation
Operation program of standard robots
41