Deciding The Operation Position Name - Mitsubishi Electric CR800 Series Instruction Manual

(2) Deciding the operation position name

Upward position to
grasping workpiece
Wait position
Upward position to grasping
workpiece
Position to grasp workpiece
Upward position to release workpiece
Position to release workpiece
Position variable name ････ Designate a random character string starting with "P".
Fig.4-7 ： Deciding the operation position name
◇◆◇ Teaching the operation position ◇◆◇
The operation position does not necessarily need to be taught.
The positions shown with white circles in
from target position". Refer to
CAUTION
Wait position
(ＰＷＡＩＴ)
Position to grasp workpiece
(ＰＧＥＴ)
Position variable
Name
Up to eight characters can be designated. (For MELFA-BASIC VI
commands)
Fig. 4-7
Page 58, "(3) Describing and creating the
The designation of the direction separated from the target position differs according to the
robot type.
The position is along the Z axis of the TOOL coordinate system, and the direction is
designated with the + and - signs.
Refer to the section on the TOOL JOG operation in the separate "Instruction Manual/
Robot arm setup and maintenance", and confirm the Z axis direction of the TOOL
coordinate system. Then, designate the correct sign (direction) that matches the robot
being used.
Designating the reverse direction could lead to interference with the peripheral devices and
damage.
Generally (in the default state), the hand retract direction is the "-" sign with the vertical
articulate type robot, and the "+" sign is the robot's upward direction with the other robots.
Teaching
name
PWAIT Required
－ Not required
PGET Required
－ Not required
PPUT Required
can be designated with commands as "position 20mm away
Upward position to
release workpiece
Position to release
workpiece
(ＰＰＵＴ)
Remarks
Designate with commands.
Designate with commands.
program".
4Basic operations
Programming 4-57