Switching Tool Data - Mitsubishi MELFA CR1D Instruction Manual

3Explanation of operation methods

3.2.8 Switching Tool Data

Set the tool data you want to use in the MEXTL1 to 4 parameters, and select the number of the tool you
want to use according to the following operation.
1) Push the [ENABLE] switch of T/B and enable T/B.
MODE
MANUAL AUTOMATIC
2) Long press the [HAND] key, and display the <tool change> screen.
3) If the number key to wish is pressed and the [EXE] key is pressed, tool data will change. MEXTL1-4 of the
parameter corresponds to 1-4 of the number.
Display of the tool change screen [HAND]
<TOOL SELECT>
TOOL : ( 1 )
0.00, 0.00, 0.00, 0.00, 0.00,
0.00
The change of tool data [1] ～ [4] [EXE]
4) Press the function key assigned for "closing" and finish.
<TOOL SELECT>
TOOL : ( 1 )
0.00, 0.00, 0.00, 0.00, 0.00,
0.00
5) The current tool number (T1-T4) is displayed on the upper right of the jog screen.
CAUTION
CAUTION
◇◆◇ Verifying the Tool Number ◇◆◇
The current tool number can be checked on the
M_Tool variable.
◇◆◇ Related Information ◇◆◇
MEXTL, MEXTL1, MEXTL2, MEXTL3 and MEXTL4 parameters
Tool instruction, M_Tool variable
The MEXTL parameter holds tool data at that point. When using the MEXTL1 to 4 parameters, be careful
as the MEXTL parameter is overwritten once a tool number is selected.
Execute the Tool instruction to return the tool number to 0.
3-23 Jog Feed (Overview)
Rear of T/B
CLOSE
123
123 CLOSE
Completed [F4]
To move the robot to the position where teaching was performed while switching
tool data (MEXTL1 to 4 parameters) during the automatic operation of the program,
substitute the M_Tool variable by a tool number when needed, and operate the
robot by switching tool data. Exercise caution as the robot moves to an unexpected
direction if the tool data during teaching does not match the tool number during
operation.
To move the robot while switching tool data during the step operation of the
program, exercise caution as the robot moves to an unexpected direction if the tool
data at the time of teaching does not match the tool number during step operation.
Up ：DISABLE
Down：ENABLE
*Lighting
<TOOL SELECT>
TOOL : ( 0 )
0.00, 0.00, 0.00, 0.00, 0.00,
0.00
123
<TOOL SELECT>
TOOL : ( 1 )
0.00, 0.00, 280.00, 0.00, 0.00,
0.00
123
screen, JOG screen, or with the
<TOOL SETTING>
CLOSE
CLOSE