Mitsubishi Electric CR800 Series Instruction Manual page 188

16 In such a case (improvement example)
(3) Please change the on timing of a sensor by making reference to "13.5 Adjustment of
possible area".
When it can't be settled, it's to the next.
(4) Please confirm whether the timing a stock sensor turns on is right.
When being not right, please do a sensitivity adjustment of a sensor. When being right, it's to the next.
(5) Please confirm the state variable "P_CvSpd (<Logic encoder number>)" using a variable monitor of RT
ToolBox3, and confirm whether conveyor speed isn't changing extremely.
When there is an extreme change, please confirm whether there isn't influence of noise.
When noise doesn't influence, it's to the next.
(6) There is a possibility that the encoder value was abnormal or a possibility that the price of the state variable
"M_EncStart" and "M_EncStop" was changed after instruction work in instruction work by a program "A1".
Please put "12. Teaching Operation ("A1" Program)" into effect again.
Make adsorption and release of the work speedy
16.4.
Adjust the adjustment variable "PDly1", and the value of X coordinates of "PDly2" of the program 1. Refer to
"Table 11-1 List of adjustment variables in the program" (high speed and accuracy tracking) or "Table 13-1
List of variable for operating conditions" (circular arc tracking) for the adjustment method.
Make movement of the robot speedy
16.5.
Adjust the following setting to make movement of the robot speedy.
1) Adjustment of the optimal acceleration-and-deceleration setting
Set mass, size, and center of gravity of the hand installed in the robot as the parameter "HNDDAT1."
And, set mass, size, and center of gravity of the work as the parameter "WRKDAT1."
By this setting, the robot can move with the optimal acceleration and deceleration and speed.
Refer to "Table 6-2 List of Operation Parameter" for setting method.
2) Adjustment of carrying height
By making low distance at adsorption and release of robot, the moving distance decreases and motion
time can be shortened as a result. Refer to the adjustment variable of "Pup1"and "Pup2" in the "Table
11-1 List of adjustment variables in the program" (high speed and accuracy tracking) or "Table 13-1 List
of variable for operating conditions" (circular arc tracking) for change of rise distance.
Restore backup data to another controller
16.6.
The status variable "P_EncDlt()" is not saved in the backup data from tracking system robot
controller.
To generate the value of " P_EncDlt(MENCNO) ", execute the "P_EncDlt(MENCNO) =PY10ENC"
command of "Program A" by step forward. (Moving distance per one pulse)
16-176 Make adsorption and release of the work speedy
Tracking starting