Teaching; Position Data - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

8.2.2 Teaching

Here, teaches the position data for performing the robot's sequencer direct.

(1) Position Data

The position data handled in the sequencer direct performance shall be position type data only. The joint
type data is not handled.
The table below lists the available positions:
Position No
1 - 999
5000
5100 - 5102
● How to use positions 5100 - 5102
Use these positions when performing sequencer direct with the position data created in the sequencer.
Sequencer direct can be performed by storing the position data created in the sequencer in the position
type data area (5100 - 5102) in the sequencer shared memory and specifying the position number 5100
- 5102.
● Specifying the tool data
Before teaching, specify the tool data. The tool data specifies the control point of hand or tool mounted
on the robot. For more information, refer to
Note that when tool data is specified or changed after teaching, previous teaching data will be unavail-
able. (When you try to move the robot to previous teaching position before setting or changing of tool
data, the robot moves to the wrong position.)
Score
999 Position type data in robot controller
1 Robot's current position
3 Position type data specified by the sequencer in the shared
memory
Description
Page 78, "(8) Tool data setting"
8Perform Sequencer Direct
Remarks
State variable P_Curr is sup-
ported
Operation flow 2-66