Calibration Of Robot And Base Coordinate Systems ("A1" Program) - Mitsubishi Electric MELFA CR800-D Series User Manual

6 Coordinated control for additional axes

6.3.8 Calibration of Robot and Base Coordinate Systems ("A1" program)

This chapter explains the tasks carried out by using "A1" program.
Calibration of robot and base coordinate systems refers to determining the origin position of user mechanisms
in the robot coordinate system.
"A1" program performs specified tasks and automatically calculates the origin position of user mechanisms in
the robot coordinate system.
The procedures of operations specified by "A1" program and items to be confirmed after the operations are
explained below.
Please refer to "Detailed Explanations of Functions and Operations" for the steps involved in each operation.
6.3.8.1. Operation procedure
(1) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
(2) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen
will appear.
MELFA CR800-D
RH-3FRH5515-D
COPYRIGHT (C) 2017 MITSUBISHI
ELECTRIC CORPORATION ALL RIGHTS
RESERVED
(3) Select "1. FILE /EDIT" screen on the <MENU> screen.
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○ ○
123
(4) Press the arrow key, combine the cursor with the program name "A1" and press the [EXE] key. Display
the <program edit> screen.
<FILE/EDIT>
1 17-03-31 17:06:39 12345
A1 17-03-31 17:06:39 12345
CM1 17-03-31 17:06:39 12345
EDIT
POSI
123
(5) Press the [FUNCTION] key, and change the function display.
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type
4 '# Date of creation/version : 201
EDIT DELETE
123
(6) Press the [F1] (FWD) key and execute step feed. "(1) Input a mechanism number ... "is displayed.
Execute work according to the comment in the robot program.
<PROGRAM> A1
4 '# Date of creation/version : 201
5 '# COPYRIGHT
6 '##############################
7 '(1)Input a mechanism number to
FWD JUMP 123
Specify the mechanism number.
If you want to change the mechanism number, please edit the program as follows.
6-114 Additional axis tracking
Ver. A1
○ CLOSE
NEW COPY
: A1.
INSERT TEACH
: MIT
BWD
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○ ○
○ 123
<FILE/EDIT>
1 17-03-31 17:06:39 12345
A1 17-03-31 17:06:39 12345
CM1 17-03-31 17:06:39 12345
EDIT
POSI NEW
123
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type
4 '# Date of creation/version : 201
EDIT
POSI NEW
123
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type
4 '# Date of creation/version : 201
FWD JUMP
123
CLOSE
COPY
: A1.
COPY
: A1.
BWD