Mitsubishi Electric CR800 Series Instruction Manual page 185

The adsorption position shifts (high speed and accuracy tracking system (vision
16.2.
tracking))
When the place that shifts from the specified adsorption position has been adsorbed, the cause is
investigated according to the following procedures.
The adsorption position shifts (high speed and accuracy tracking system (vision tracking)) 16-173
Start
Check the position
gap
The position
shifts
【confirmation1】
Confirm whether neither the
encoder nor the conveyer slip
Check the slip
of encoder
Not slip
【confirmation 2】
Check whether to recognize the
image center correctly.
Check the vision
Correctly
recognizes
【confirmation 3】
Check whether the calibration is
correct
Check the
calibration
Correct
1
16 In such a case (improvement example)
The position
doesn't shift
Adjustment
completion
Slip
Fix the encoder
Recognition is
defective
Change the setting of the
vision sensor
Start
Not correct
Do the work of the 'B1'
program again
Start