Mitsubishi Electric CR800 Series Instruction Manual page 90

10 Workpiece Recognition and Teaching ("C1" program)
(6) Press the [F1] (FWD) key and execute step feed. "(1) Input a workpiece ... "is displayed. Execute work
according to the comment in the robot program.
<PROGRAM> C1
4 '# Date of creation/version : 2015
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '###############################
7 '(1)Input a workpiece number to the
JUMP
FWD 123
Specify the workpiece number.
If you want to change the workpiece number, please edit the program as follows.
(a) Display the following command.
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6'################################
7 '(1)Input a workpiece number to the
8 MWrkNo = 1
EDIT
DELETE
(b) Press the [F1] (FWD) key and specify the workpiece number in the variable "MWrkNo"
Example) When "2" is specified as the workpiece number.
<PROGRAM> C1
8 MWrkNo = 1
EDIT
DELETE
(c) Press the [F1] (FWD) key and the change is determined.
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6'################################
7 '(1)Input a workpiece number to the
8 MWrkNo = 2
EDIT
DELETE
(7) Press the [F1] (FWD) key and execute step feed. "(2) Input an encoder number..."is displayed.
<PROGRAM> C1
6'################################
7 '(1)Input a workpiece number to the
8 MWrkNo = 2
(2)Input an encoder number to the
JUMP
FWD
Specify the workpiece number.
If you want to change the workpiece number, please edit the program as similar procedure (6).
(8) Press the [F1] (FWD) key and execute step feed. "(3) Input the SKIP input number..."is displayed.
<PROGRAM> C1
8 MWrkNo = 1
9 '(2)Input an encoder number to the
10 MEncNo = 1
11 '(3)Input the SKIP input number to
JUMP
FWD
Specify the SKIP input number.
If you want to change the SKIP input number, please edit the program as similar procedure (6).
10-78 Vision Tracking
BWD
'Set a wo
INSERT TEACH
123
Edit
INSERT TEACH
123
'Set a wo
INSERT TEACH
123
'Set a wo
BWD
123
'Set a wo
'Set an encoder
BWD
123
<PROGRAM> C1 Edit
8 MWrkNo = 2
EDIT
DELETE INSERT
123
TEACH