Specification; Circular Arc Tracking Specifications; Q Type - Mitsubishi Electric CR750-D Series Instruction Manual

3. Specification

3.1.

Circular arc tracking Specifications

The table below shows the circular arc tracking specifications.
Please refer to "Standard Specifications Manual" for the specifications of the robot arm and controller to be
used.
3.1.1.

Q type

Table 3-1 CR750-Q/CR751-Q Series Controller
Item
Supported robots (*1)
Applicable robot controller
Correspondence to
Vision sensor
Conveyer Number of
conveyer
(*2)
Movement
Speed (*3)
Encoder
Encoder cable
Establishment
Encoder unit
Photoelectronic sensor (*6)
Precision at handling
position (*3)
(*1) The sample program doesn't correspond to the RV-5 axis robot.
(*2) The encoder connected with the third channel of the Q173DPX unit specified for parameter "ENCUNIT3"
cannot be used.
(*3) The specification values in the table should only be considered guidelines. The actual values depend on
the specific operation environment, robot model, hand, Sensitivity of the sensor and other factors.
(*4) Voltage output/open collector type is an output circuit with two output transistors of NPN and PNP.
(*5) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
(*6) Please connect the output signal of a photoelectric sensor with the terminal TREN of the Q173DPX unit.
This input can be confirmed，by the input signal 810th-817th.
Circular Arc Tracking Function Specifications
RH-FH-Q series / RV-F-Q series
CR750-Q/CR751-Q series controller
(As of February, 2015, not supported
Max 8pcs (in case 1pc encoder connect to 1 pc conveyer)
Encoder 3 pcs / Q173DPX unit 1pc
Q173DPX unit 3pcs / system
Possible to support up to 300mm/s (When the robot always transport the
workpieces)
Possible to support up to 500mm/s when the interval of workpiece is wide.
Voltage output/open collector type ：
Line driver output
Resolution(pulse/rotation) ： Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product ： Omuron E6B2-CWZ1X-1000
2D-CBL05(External I/O cable 5m)
2D-CBL15(External I/O cable 15m)
Only the X-Y plane of the robot supports
(The robot cannot follow the arc direction of the Y-Z plane and the X-Z plane)
Only Q173DPX unit
Used to detect workpieces positions in conveyer tracking.
Output signal of sensor need to be connected to TREN terminal of Q173DPX
unit. (Input signal number 810 to 817)
And a momentary encoder value that the input enters is preserved in state
variable "M_EncL".
Approximately ±1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy
and so on)
Specification
)
A B Z
、 、
A A B B Z Z
：
、 、 、 、 、
E6B2-CWZ1X-2000
Circular arc tracking Specifications 3-9
3 Specification
(*4)
(*5)