Mitsubishi CR750-Q Series Instruction Manual page 114

20 Troubleshooting
【confirmation 3】
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) In In-Sight Explorer(EasyBuilder), click the "Set Up Image" from the "Application Steps".
Set "Calibration Type" displayed in the lower right of the screen to "Import".
Specify the file that exported when the calibration is done to "File Name".
4) Confirm workpiece is recognized by starting the job, and the recognition result (robot coordinate)
is correct.
(example)
(+0, +0) is displayed as a recognition result when assuming that the robot coordinates are set as
follows when the calibration is done by using the calibration seat, and using a ○ sign in four
corners.
(the first point xy) (the second point xy)(the third point xy)(the fourth point xy)
5) Arrange workpieces on four corners.
6) Confirm whether the workpieces put on four corners of the image is recognized similar and
correctly.
The recognition result becomes (+100,+100), (+100,-100), (-100,+100), and (-100,-100).
【confirmation 4】
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) Change X coordinates of PDLY1 in '1' program to a big value like the "10" second etc.
4) Start '1' program, and start the conveyer in low-speed.
5) Stop the conveyer because it keeps following during the "10" second in the place where the robot
moved to the adsorption position. And, stop '1' program.
6) Confirm whether the position in which the robot adsorbs workpiece is correct.
7) Confirm the tendency to a positional gap repeating this work several times.
【confirmation 5】
1) Stop the conveyer.
2) Start the '1' program, and start the conveyer in the speed that you want.
3) Flow workpiece.
4) Stop the conveyer because it keeps following during the "10" second in the place where the robot
moved to the adsorption position. And, stop '1' program.
5) Confirm the position in which the robot adsorbs workpiece.
<The position shifts in shape to adsorb the rear side of work >
Please adjust < delay time of NvTrg command used because of the 'CM1' program >.
Please adjust the encoder value specified by the TrWrt command as < delay time > "0" when
the adjustment by < delay time of NvTrg command > is difficult.
For instance, the 'CM1' program is changed as follows and the numerical value (for instance,
following "500") is adjusted.
MENCDATA#=MTR1#+500
TrWrt PRW, MENCDATA#, MWKNO,1,MENCNO
【confirmation 6】
1) Change parameter "TRADJ1", and adjust a positional gap.
【confirmation 7】
1) Change parameter "TRPACL" and "TRPDCL" to make the follow speed of the tracking fast.
Note it though the load factor of each axis of the robot goes up.
Confirm the state of the load of each axis by "Load factor monitor" of RT ToolBox2.
20-104 In such a case (improvement example)
= (+100,+100), (+100,-100), (-100,+100), and (-100,-100)