Setting Of An Operating Condition And Operations Check ("1"Program); Variable For Operating Conditions - Mitsubishi Electric CR800 Series Instruction Manual
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13 Setting of an operating condition and operations check ("1"Program)
13. Setting of an operating condition and operations check ("1"Program)
* The tasks described in this chapter are required for circular arc tracking (conveyer tracking).
* Refer to "8 Calibration of Conveyer and Robot Coordinate Systems ("A1" program)" for high speed
and accuracy tracking.
This chapter explains operations required to run "1" program.
In addition, this chapter explains a method to check the operation in the condition that it was designated, and to
coordinate again.
Variable for operating conditions
13.1.
The variable indicated below is used for designation of an operating condition of a robot.
Please refer to "Detailed Explanations of Functions and Operations" for how to set the variable.
Variable
name
PUp1
In movement to adsorb workpiece, appoint quantity of
offset to the sky position.
*
*
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In movement to desorb workpiece, appoint quantity of
offset to the sky position.
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PDly1
Specify the
PDly2
Specify the
PPri
When you start the "1" program, in slot 2 of a
multi-task, "CM1" program is executed.
"1" monitors the operation of the robot, "CM1"
monitors the sensor.
You can specify whether to prioritize either of
processing.
X
coordinate
the "1"program
Y
coordinate
the "CM1" program
13-106 Variable for operating conditions
Table 13-1 List of variable for operating conditions
Explanation
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adsorption time
(s).
desorption
time (s).
The number of execution line of
＝
(1 - 31)
The number of execution line of
＝
(1 - 31)
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.
Setting Example
If you want to rise 30mm
position to adsorb the work
(Example)RV series
(X,Y,Z,A,B,C)=
(+0, +0,-30,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+30,+0,+0,+0)
If you want to rise
50mm
position to
desorb
the work
(Example)RV series
(X,Y,Z,A,B,C)=
(+0, +0,-50,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+50,+0,+0,+0)
Specify the
adsorption time to 1
second:
(X,Y,Z,A,B,C)= (+1,+0,+0,+0,+0,+0)
Specify the
desorption
second:
(X,Y,Z,A,B,C)=
(+0.5,+0,+0,+0,+0,+0)
While execute 1 line of "CM1",
execute 3 lines of "1".
(X,Y,Z,A,B,C)=
(+3,+1,+0,+0,+0,+0)
from
from
time to 1
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