Mitsubishi Electric CR750-D Series Instruction Manual page 15

1.3.
The terminology explanation
Generic name and
abbreviation
Q type
D type
Circular arc tracking function
Conveyer tracking
Vision tracking
(As of February, 2015, not
supported)
Q173DPX unit
Physical encoder number
Logical encoder number
TREN signal
Table 1-2 The terminology explanation for circular arc tracking
"Q type" means CR750-Q/CR751-Q series controller.
"D type" means CR750-D/CR751-D series controller.
The conveyer tracking allows a robot to follow workpieces lining up on a
turntable and a circular arc conveyer. With this function, it becomes possible
to transport, process workpieces.
The conveyer tracking allows a robot to follow workpieces lining up on a
conveyer. With this function, it becomes possible to transport, process
workpieces.
The vision tracking allows a robot to follow workpieces not lining up on a
conveyer. With this function, it becomes possible to transport line up and
process workpieces.
Q173DRX unit is manual pulser input unit for motion controller. At Q series
CPU, it is used as intelligent function unit (occupation 32 points)
Each encoder figure can be got by connection with 1 pc the manual pulser
machine (MR-HDP01) or 3pcs the incremental encoder.
Physical encoder numbers a number of the encoder physically allocated
according to a certain rule.
In the CR750-Q/CR751-Q series, the number is allocated by arranging the
encoder connected with Q173DPX unit.
The encoder which connected with CH1 of the Q173DPX unit specified for
parameter "ENC UNIT1" is the first, the encoder which connected with CH2 is
the second and with CH3 is the third.
It becomes from 4 to 6 for the Q173DPX unit specified for
parameter"ENCUNIT2".
It becomes from 7 to 8 for the Q173DPX unit specified for
parameter"ENCUNIT3".
Note) The 3rd set of Q173DPX units can use only the two channels.
The physical encoder number change to the logical encoder number by
parameter "EXTENC". The purpose of this is to change freely number by the
parameter for the encoder physically arranged. This logical encoder number
is used with the instruction and the state variable of the robot program.
tracking enable signal
Contents
The terminology explanation 1-5
1 Overview