Items Written When Saving In Robot - Mitsubishi Electric MELFA CR750 Series User Manual

8.7.4. Items written when saving in robot

When saving a robot program in a robot controller, write items can be set by categorizing them into
instructions, position variables and program external position variables.
This function is displayed on CRn-500 series robot controllers from the H1 edition on.
This save item default values for when you have read a robot controller program are the same as the "Read
Items" when you read the program.
computer, the display becomes as in "Save Items".
We will explain the operations for saving to a robot when only command lines or only position variables
are specified, using the following example for illustration.
Example: When there are programs in program editing on the computer or in
the robot controller
<<Program in the robot controller>>
10 Mov P1
20 Mov P2
30 Mov P3
40 End
P1=( 400.000, 0.000, 100.000, , , 90.000)(4,0)
P2=( 0.000, 400.000, 150.000, , , 0.000)(4,0)
P3=(-351.704, -49.369, 22.000, , ,-95.168)(0,0)
P4=( 276.499,-599.066, 264.966, , , 29.170)(0,0)
(1) When only command line written
<<Program in the robot controller>>
100 Mov P1
200 Mov P2
300 Mov P5
400 End
P1=( 400.000,
P2=( 0.000, 400.000, 150.000,,, 0.000)(4,0)
P3=(-351.700, -49.370, 22.000,,,-95.170)(0,0)
P4=( 276.500,-599.070, 264.970,,, 29.170)(0,0)
(2) When writing position variable only
<<Program in the robot controller >>
10 Mov P1
20 Mov P2
30 Mov P3
40 End
P1=( 400.000,
P2=( 0.000, 400.000, 150.000,,, 0.000)(4,0)
P3=(-351.700, -49.370, 22.000,,,-95.170)(0,0)
P4=( 276.500,-599.070, 264.970,,, 29.170)(0,0)
P5=( 535.790, 295.020, 102.000,,,148.420)(0,0)
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When you have created a new program or opened a program on the
Figure 8-46 Save Item
Changing only the command line
0.000, 100.000,,, 90.000)(4,0)
The command line is not changed.
0.000, 100.000,,,-90.000)(4,0)
s
<< Program on computer >>
100 Mov P1
200 Mov P2
300 Mov P5 ' <- Change
400 End
P1=( 400.000, 0.000, 100.000, , ,-90.000)(4,0)
P2=( 0.000, 400.000, 150.000, , , 0.000)(4,0)
P3=(-351.704, -49.369, 22.000, , ,-95.168)(0,0)
P5=( 535.786, 295.021, 102.000, , ,148.420)(0,0)
The position variables are not
changed.
The position variables on the computer are
overwritten. However, position variables
that are in the robot controller, not on the
computer, are left as is. (Reference)
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