Table Of Contents - Mitsubishi Electric CR800 Series Instruction Manual

1. Overview ........................................................................................................................................................................................................................... 1-1
1.1. Function overview ............................................................................................................................................................................................... 1-1
1.1.1. What is high Speed and Accuracy Tracking Function? ............................................................................................................. 1-1
1.1.2. What is the circular arc tracking function? .................................................................................................................................... 1-1
1.2. System that can achieve ................................................................................................................................................................................. 1-2
1.2.1. High speed and accuracy tracking function ................................................................................................................................... 1-2
1.2.2. Circular arc tracking function .............................................................................................................................................................. 1-4
1.3. The terminology explanation ........................................................................................................................................................................... 1-7
2. System Configuration................................................................................................................................................................................................... 2-8
2.1. Components ........................................................................................................................................................................................................... 2-8
2.1.1. Robot controller enclosure products ................................................................................................................................................ 2-8
2.1.2. Devices Provided by Customers ........................................................................................................................................................ 2-8
2.2. Example of System Configuration .............................................................................................................................................................. 2-10
2.2.1. Configurations for the high speed and accuracy tracking function ................................................................................... 2-10
2.2.2. Configuration for the circular arc tracking function ................................................................................................................. 2-12
3. Specification .................................................................................................................................................................................................................. 3-13
3.1. Tracking Specifications ................................................................................................................................................................................... 3-13
3.1.1. D type or R type ...................................................................................................................................................................................... 3-13
3.1.2. Q type .......................................................................................................................................................................................................... 3-14
3.2. Q173DPX（manual pulser input）unit specification ............................................................................................................................... 3-15
4. Operation Procedure .................................................................................................................................................................................................. 4-21
4.1. Operation procedure for constructing a high speed and accuracy tracking system ............................................................ 4-21
4.2. Operation procedure for constructing a circular arc tracking system ........................................................................................ 4-22
5. Connection of Equipment ......................................................................................................................................................................................... 5-23
5.1. Connection of Equipment [D type or R type] ........................................................................................................................................ 5-23
5.1.1. Connection with encoder for conveyer and encoder cable................................................................................................... 5-23
5.1.2. Installation of encoder cable .............................................................................................................................................................. 5-25
5.1.3. Connection of Photoelectronic Sensor ......................................................................................................................................... 5-26
5.1.4. Connection of Vision Sensor.............................................................................................................................................................. 5-26
5.2. Connection of Equipment [Q type] ............................................................................................................................................................ 5-27
5.2.1. Connection of Unit ................................................................................................................................................................................. 5-27
5.2.2. Connection with encoder for conveyer and encoder cable................................................................................................... 5-27
5.2.3. Connection of Photoelectronic Sensor ......................................................................................................................................... 5-29
5.2.4. Connection of Vision Sensor.............................................................................................................................................................. 5-30
5.3. Installation of an Encoder in the Circular Arc Tracking System ................................................................................................... 5-31
5.4. Measures against the noize .......................................................................................................................................................................... 5-32
6. Parameter Setting ....................................................................................................................................................................................................... 6-33
6.1. Tracking Parameter Setting .......................................................................................................................................................................... 6-33
6.1.1. Robot CPU parameter setting ........................................................................................................................................................... 6-33
6.1.2. Sequencer CPU Parameter Setting [Q type] .............................................................................................................................. 6-38
6.1.3. Example of three robot's CPU sharing one Q173DPX [Q type] .......................................................................................... 6-41
6.2. Operation Parameters ..................................................................................................................................................................................... 6-46
6.3. Dedicated Input/Output Parameters ........................................................................................................................................................ 6-47
7. Installation of a sample robot program ............................................................................................................................................................... 7-48
8. Calibration of Conveyer and Robot Coordinate Systems ("A1" program) ........................................................................................... 8-49
8.1. Preliminary Preparaions .................................................................................................................................................................................. 8-49
8.1.1. Setting of tool length ............................................................................................................................................................................. 8-49
8.1.2. Confirm the encoder value .................................................................................................................................................................. 8-50
8.2. Operation procedure ........................................................................................................................................................................................ 8-52
8.3. Confirmation after operation ........................................................................................................................................................................ 8-56
8.4. When multiple conveyers are used ............................................................................................................................................................ 8-56
9. Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" program) ........................................................................... 9-57
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