Setting Of An Operating Condition And Operations Check ("1"Program); Variable For Operating Conditions - Mitsubishi Electric CR750 Series Instruction Manual
Circular arc tracking function
Hide thumbs
Also See for CR750 Series:
- User manual (468 pages) ,
- Instruction manual (159 pages) ,
- Manual (2 pages)
Table of Contents
Advertisement
9. Setting of an operating condition and operations check ("1"Program)
This chapter explains operations required to run "1" program.
In addition, this chapter explains a method to check the operation in the condition that it was designated, and
to coordinate again.
9.1.
Variable for operating conditions
The variable indicated below is used for designation of an operating condition of a robot.
Please refer to "Detailed Explanations of Functions and Operations" for how to set the variable.
Variable
name
PUp1
In movement to adsorb workpiece, appoint quantity of
offset to the sky position.
*
F
o
r
t
h
*
F
o
r
t
h
a
d
h
e
s
a
d
h
e
s
t
o
a
s
i
t
o
a
s
i
PUp2
In movement to desorb workpiece, appoint quantity of
offset to the sky position.
*
F
o
r
t
h
*
F
o
r
t
h
a
d
h
e
s
a
d
h
e
s
t
o
a
s
i
t
o
a
s
i
PDly1
Specify the
PDly2
Specify the
PPri
When you start the "1" program, in slot 2 of a
multi-task, "CM1" program is executed.
"1" monitors the operation of the robot, "CM1"
monitors the sensor.
You can specify whether to prioritize either of
processing.
X
coordinate
the "1"program
Y
coordinate
the "CM1" program
9 Setting of an operating condition and operations check ("1"Program)
Table 9-1 List of variable for operating conditions
Explanation
i
s
v
a
r
i
a
b
l
e
t
o
b
e
c
a
l
c
u
i
s
v
a
r
i
a
b
l
e
t
o
b
e
c
a
l
c
u
i
o
n
l
o
c
a
t
i
o
n
,
i
t
'
s
n
e
c
e
s
i
o
n
l
o
c
a
t
i
o
n
,
i
t
'
s
n
e
c
e
s
g
n
a
c
c
o
r
d
i
n
g
t
o
t
h
e
m
o
g
n
a
c
c
o
r
d
i
n
g
t
o
t
h
e
m
o
i
s
v
a
r
i
a
b
l
e
t
o
b
e
c
a
l
c
u
i
s
v
a
r
i
a
b
l
e
t
o
b
e
c
a
l
c
u
i
o
n
l
o
c
a
t
i
o
n
,
i
t
'
s
n
e
c
e
s
i
o
n
l
o
c
a
t
i
o
n
,
i
t
'
s
n
e
c
e
s
g
n
a
c
c
o
r
d
i
n
g
t
o
t
h
e
m
o
g
n
a
c
c
o
r
d
i
n
g
t
o
t
h
e
m
o
adsorption time
(s).
desorption
time (s).
The number of execution line of
＝
(1 - 31)
The number of execution line of
＝
(1 - 31)
l
a
t
e
d
r
e
l
a
t
i
v
e
l
y
t
o
t
h
e
l
a
t
e
d
r
e
l
a
t
i
v
e
l
y
t
o
t
h
e
s
a
r
y
t
o
p
a
y
a
t
t
e
n
t
i
o
n
s
a
r
y
t
o
p
a
y
a
t
t
e
n
t
i
o
n
d
e
l
o
f
t
h
e
r
o
b
o
t
.
d
e
l
o
f
t
h
e
r
o
b
o
t
.
l
a
t
e
d
r
e
l
a
t
i
v
e
l
y
t
o
t
h
e
l
a
t
e
d
r
e
l
a
t
i
v
e
l
y
t
o
t
h
e
s
a
r
y
t
o
p
a
y
a
t
t
e
n
t
i
o
n
s
a
r
y
t
o
p
a
y
a
t
t
e
n
t
i
o
n
d
e
l
o
f
t
h
e
r
o
b
o
t
.
d
e
l
o
f
t
h
e
r
o
b
o
t
.
Setting Example
If you want to rise 30mm
position to adsorb the work
(Example)RV series
(X,Y,Z,A,B,C)=
(+0, +0,-30,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+30,+0,+0,+0)
If you want to rise
50mm
position to
desorb
the work
(Example)RV series
(X,Y,Z,A,B,C)=
(+0, +0,-50,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+50,+0,+0,+0)
Specify the
adsorption time to 1
second:
(X,Y,Z,A,B,C)= (+1,+0,+0,+0,+0,+0)
Specify the
desorption
second:
(X,Y,Z,A,B,C)=
(+0.5,+0,+0,+0,+0,+0)
While execute 1 line of "CM1",
execute 3 lines of "1".
(X,Y,Z,A,B,C)=
(+3,+1,+0,+0,+0,+0)
Variable for operating conditions 9-57
from
from
time to 1
Advertisement
Table of Contents
