Mitsubishi CRn-500 Series Instruction Manual page 57

(4) Procedure up to program execution
Procedure 1 : Program creation
<1>Program of mechanism number 1 (Program name:1)
10 DEF PLT 1,PBST,PBEDA,PBEDB,,4,3,2 ' Definition of palette number 1
20 MOV PSF
30 HOPEN 1
40 M1=1
50 IF M_IN(11)=0 THEN GOTO 50
60 M_OUT(11)=0
70 *LOOP
80 MOV PA,-50
90 MVS PA
100 HCLOSE 1
110 DLY 0.5
120 MVS PA,-50
130 PB=(PLT 1,M1)
140 MOV PB,-50
150 MVS PB
160 HOPEN 1
170 DLY 0.5
180 MVS PB,-50
190 M1=M1+1
200 IF M1<=12 THEN *LOOP
210 M_OUT(11)=1
220 END
Procedure 2 : Setting synchronous control of the robot's addition axis
Set the parameters as shown below.
For more details, refer to "7.5.2Synchronous control of robot additional axis (travel axis)."
Parameter
AXSYNC
Procedure 3 : Reflecting the task slot parameters
Turn off the power to enable the AXSYNC and AXDIR parameters, and then turn on the power
again.
Procedure 4 : Starting
Run the program 1 by starting from the operation panel.
7.Setting, Operation and Command Explanation of Robot Additional Axis
Default value
0
AXDIR 0.0, 0.0, 0.0
' Move to safe position
' Open the hand1
' M1 is used for counter
' Waits for the transport of a work
' Transporting a work
' Moves to the position of 50 mm back
from work unloaded position
' Moves to the position where work is
unloaded
' Close the hand1
' Waits for 0.5 sec
' Moves to the position of 50 mm back
from work unloaded position
' Calculates the position in the pallet
number 1 indicated by M1
' Moves to the position 50 mm back from
the work placing position
' Moves to the work placing position
' Open the hand1
' Waits for 0.5 sec
' Moves to the position 50 mm back from
the work placing position
' Advances the counter
' Loops as many as the number of works
' Work full
Setting value
7
0.0, 0.0, -90.0
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