Registering The Current Position Data - Mitsubishi Electric CR750-Q Instruction Manual

3Explanation of operation methods

(5) Registering the current position data

Teach the position variable which moves the robot to the movement position by jog operation etc., and is
using the position by the program (registration). It is overwritten if already taught (correction). There are the
teaching in the command edit screen and the teaching in the position edit screen.
(a) Teaching in the command edit screen
Call the step which is using the position variable to teach.
The operating procedure in the case of teaching the current position to the below to the position variable
P5 of step 5 "Mvs P5" is shown. Move the robot to the movement position by jog operation etc. before-
hand.
1) Call the step 5
Press the function key corresponding to "JUMP", then step number input screen is displayed. Press
the [5], [EXE] key, move cursor to step 5.
Step 5 can be called even if it moves the cursor to Step 5 by the [ ↑ ], [ ↓ ] key.
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
FWD JUMP
Call the step 5 [F2]
2) Teaching of the current position
Press the function key corresponding to "TEACH" ([F4]), then the confirmation screen is displayed.
<PROGRAM> 1
4 Mov P4
5 Mov P5
6 End
EDIT DELETE
Register the current position [F4]
3) Press the function key corresponding to "Yes", then the robot's current position data will be taught to
P5, and display will return to the original command edit screen. The teaching can be canceled if the
function key corresponding to "No" is pressed.
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
Yes
Register the current position [F1]
The teaching of the current position was completed above.
Only one position variable is the target.
If the read step is using two or more position variables, such as "Mov P1+P2" and "P1=P10", the position va
able of most left-hand side is the target of the teaching.
And, as shown in "Mov p1+P2", the position variable of the capital letter and the small letter is intermingled,
the position variable of the capital letter is target. (The software version of T/B is 1.3 or later) It is the followin
page if it teaches other variables. Refer to
3-40 Programming
100%
⇒
123 BWD
100%
⇒
123 INSERT TEACH
123 No
"(b) Teaching in the position edit screen"
<PROGRAM> 1
STEP ( 5
123
Call the step 5 [5] [EXE]
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
Yes 123
<PROGRAM> 1
4 Mov P4
5 Mov P5
6 End
DELETE 123
EDIT INSERT
100%
)
CLOSE
No
100%
⇒
TEACH
as follows.