Operation Procedure; Operation Procedure For Constructing A High Speed And Accuracy Tracking System - Mitsubishi Electric CR800 Series Instruction Manual

4. Operation Procedure

Operation procedure for constructing a high speed and accuracy tracking system

4.1.
This chapter explains the operation procedure for constructing a high speed and accuracy tracking system.
1．Connection of Equipment········································································· Refer to "Chapter 5."
[D type or R type]
Chapter 5 explains the connection with the encoder.
[Q type]
Chapter 5 explains the preparation for the Q173DPX (manual pulser input) unit and the connection with
the encoder.
2．Parameter Setting ·················································································· Refer to "Chapter 6."
Chapter 6 explains assignment of signals for external equipment to control a robot and parameter about
the tracking and parameter about movement such as the length of the tool.
3．Installation of a sample robot program ························································ Refer to "Chapter 7."
Chapter 7 explains functions related to sample programs.
4．Calibration of Conveyer and Robot Coordinate Systems ("A1" program) ············· Refer to "Chapter 8."
Chapter 8 explains how to calculate the amount of robot movement per encoder pulse.
5．Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" program) ·· Refer to "Chapter 9."
Chapter 9 explains how to display the position of a workpiece recognized by the vision sensor in the
robot coordinate system.
*Only Vision Tracking
6．Workpiece Recognition and Teaching ("C1" program) ···································· Refer to "Chapter 10."
[Conveyer Tracking]
Chapter 10 explains how to calculate the relationship between the position of a workpiece
recognized by the photoelectronic sensor and the position at which the robot grabs the workpiece.
[Vision Tracking]
Chapter 10 explains how to calculate the relationship between the position of a workpiece
recognized by the vision sensor and the position at which the robot grabs the workpiece.
7．Teaching and Setting of Adjustment Variables ("1" program) ··························· Refer to "Chapter 11."
Chapter 11 explains adjustment of the conveyance route in the automatic driving and a change of the
adsorption time.
8．Maintenance of robot program ·································································· Refer to "Chapter 15."
9．Troubleshooting ····················································································· Refer to "Chapter 17."
Start of operation
End of operation
Operation procedure for constructing a high speed and accuracy tracking system 4-21
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4 Operation Procedure