Mitsubishi Electric CR800 Series Instruction Manual page 93

(16) Press the [F1] (FWD) key and execute step feed. "(11) Move a workpiece on the..."is displayed.
Rotate the conveyer forward and move a workpiece within the vision sensor recognition area into the robot
movement range.
Vision sensor
recognition area
(17) Press the [F1] (FWD) key and execute step feed. "(12) Move the robot to the suction..."is displayed.
Move the robot to the position where it is able to suction the workpiece.
* With this operation, encoder data and robot position are acquired.
Vision sensor
recognition area
(18) Press the [F1] (FWD) key and execute step feed. "(13) Perform step operation until END"is displayed.
Perform step operation until "End."
* With this operation, the robot becomes able to recognize the position of the workpiece recognized
by the vision sensor.
10 Workpiece Recognition and Teaching ("C1" program)
Move the
workpiece
Move the hand
Robot movement range
Vision Tracking 10-81