Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual page 48

3 Description of functions
3.3.3.4. Starting the sample program
The test program is an example of communicating in real-time between the robot and personal computer. The XYZ
position data X axis or joint position data J1 axis is commanded from the personal computer to the robot and controlled.
(1) Using the teaching pendant or personal computer support software, register the following robot program with an
appropriate program name.
<Robot program>
1) Example for MELFA-BASIC V
1 OPEN "ENET:192.168.0. 20" AS #1
2 MOV P1
3 MXT1,0
4 MOV P1
5 HLT
6 END
(2) Start the robot program.
Press the START button on the robot controller's operating panel, and start the robot program.
The robot will move to the default position P1, and real-time external control will be executed with the MXT command.
(3) Start the personal computer's real-time external control sample program.
Refer to section "4.2.2 Sample program for real-time external control function" and create the execution file. (The created
execution file will be sample.exe.)
Start Windows Explorer, and double-click on sample.exe.
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' Designate personal computer side IP address as Ethernet in file No. 1
' Move to default position P1 (teach random position as P1)
' Move according to command value issued from file No. 1
Current XYZ position is replied from controller to personal computer
' After external control mode ends, move to default position P1 with joint
interpolation
' Halt
' End