Mitsubishi Electric CR800 Series Instruction Manual page 184

16 In such a case (improvement example)
[Confirmation 1]
1) Stop the conveyer.
2) Confirm the disk installed in the rotary encoder has come in contact with the conveyer.
3) Confirm whether the disk installed in the encoder rotates when the conveyer is made to work.
[Confirmation 2]
1) Stop the conveyer.
2) Change X coordinates of PDly1 in '1' program to a big value like the "10" second etc.
3) Start '1' program, and start the conveyer in low-speed.
4) Stop the conveyer because it keeps following during the "10" second in the place where the robot
moved to the adsorption position. And, stop '1' program.
5) Confirm whether the position in which the robot adsorbs workpiece is correct.
6) Confirm the tendency to a positional gap repeating this work several times.
[Confirmation 3]
1) Stop the conveyer.
2) Put a workpiece at the front to which a sensor reacts.
3) Move the conveyer manually and confirm whether the timing to which a sensor reacts is correct.
[Confirmation 4]
1) Change parameter "TRADJ1", and adjust a positional gap.
[Confirmation 5]
1) Change robot status variable "P_TrkPAcl" and "P_TrkPDcl" to make the follow speed of the
tracking fast.
Note it though the load factor of each axis of the robot goes up.
Confirm the state of the load of each axis by "Load factor monitor" of RT ToolBox3.
16-172 The adsorption position shifts (high speed and accuracy tracking system (conveyer tracking))