Programming; Creation Procedures; Robot Work - Mitsubishi Electric CR800 Series Instruction Manual

4.6 Programming

The procedures from creating the program to automatic operation are explained in order using a simple procedure
as an example.
MELFA-BASIC VI commands are used in the program examples.

(1) Creation procedures

Deciding the operation position name
Describing and creating the program
Teaching the operation position
Confirmation of program and operation position
Yes
Fig.4-4 ： Program creation procedures

(2) Robot work

Assume that the robot is going to carry the workpiece from the left to the right.
Workpiece
Start
Deciding the operation order
Judgment: OK?
No
Correcting the program
Correcting the position
Automatic operation
End
Fig.4-5 ： Example of work
Decide the robot operation order, operation path
(necessity of linear movement), and the work at each
operation position (hand open/close, etc).
Teach the robot operation position in the position
variables.
Decide the position variable name.
Based on the decided operation order and operation
position name, convert the robot operations and work
into commands. Describe the commands in the program
and save in the controller.
Move the robot to each operation position with jog
operation, and teach each position in the position
variables.
Execute the program saved in the controller line by line,
and confirm that the program and operation positions
are correctly saved.
If any mistakes were found in the robot operation or
work during the program confirmation, correct the
program.
If any mistakes were found in the robot operation
position during the program confirmation, correct the
taught position.
Automatically execute the completed program.
Carry the workpiece
4Basic operations
Programming 4-55