Teaching Operation("A1" Program); Preliminary Preparations; Setting Of Tool Length - Mitsubishi Electric CR750-D Series Instruction Manual

8. Teaching Operation("A1" Program)

This chapter explains the tasks carried out by using "A1" program.
You can just execute "1" program and do now circular arc tracking by putting this work into effect.
Please refer to "Detailed Explanations of Functions and Operations" for the steps involved in each operation.
8.1.

Preliminary preparations

This chapter explains the knowledge about confirmation and operation necessary to a minimum before
beginning work.
The contents which should be checked are "Tool length" and "change in the encoder value".
8.1.1.

Setting of tool length

When you'd like to change the angle at the place which isn't a flange part of a robot(For example, tip of a
hand), you have to set tool length.
The "tool length automatic measuring system" function of RT ToolBox2 is useful when setting tool length.
Refer to "RT ToolBox2 Robot Total Engineering Support Software Instruction Manual" about operational
details.
When the robot model and robot controller which have connected, correspond to this function, a [Tool
automatic calculation] is displayed under [Maintenance] in the project tree. Double-click [Online]
->[Maintenance] -> [Tool automatic calculation] in the project tree.
8 Teaching Operation("A1" Program)
Preliminary preparations 8-43