Create The Robot Program N O . 1; Start The Robot Program No. 1 From The Master Station - Mitsubishi Electric MELFA CR800-D Series Instruction Manual

7.4. Create the robot program No. 1
Use RT ToolBox2/RT ToolBox3 (personal computer support software) or the teaching pendant, and create
the robot program No. 1.
Refer to separate manual "Detailed description of the function and operation" for the creation method.
The simple example of the program shown in the following
Mov PHOME
Dly 1
Mov P1,-100
M_Out(6016)=1
Cnt 1,0,0
Mov P1
M_Out(6017)=1
HClose 1
Dly 0.5
M_Out(6018)=1
Cnt 1
Mov P1,-100
M_Out(6019)=1
Mov PHOME
M_DOut(6001)=123
Hlt
End
This example of the robot program is the example which outputs No. 6019 from the output signal No.
6016 for each operation, and finally outputs "+123" to the output register.

7.5. Start the robot program No. 1 from the master station

Start the robot program No. 1 by the circuit of the sample rudder program.
The procedure is shown in the following.
(1) Turn on the power supply of the MELSEC sequencer and the robot controller.
(2) If the key switch in the operation panel of the robot controller is changed to "Automatic", the
robot program No. 1 will start automatically.
(3) If the last of the robot program No. 1 has the "Hlt" command, the robot program will stop
automatically.
(4) If the key switch of the operation panel is changed to "Automatic"->"Manual"-> "Automatic",
the robot program No. 1 will be started again.
' Move to the safety point.
' Wait for the 1 second
' Approach with 100mm to P1
' Turn on the output signal No. 6016
' Continuation trajectory operation
' Move to P1
' Turn on the output signal No. 6017
' Hold the work
'' Wait for the 1 second
' Turn on the output signal No. 6018
' Continuation trajectory operation
' Approach with 100mm to P100
' Turn on the signal for confirmation of move to P2
' Move to the safety point
' Output to the register
' Program stop
' End of the program
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