Mitsubishi CR750-Q Series Instruction Manual page 121

No. Operation phase
In case of system
debag
5
In case of system
debug
6
7
Model
CR750-Q CR750-D
CR751-Q CR751-D
CRnQ-700 CRnD-700
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● ●
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Parameter
Example
name
TRCWDST 20.0
+0.00,
+4.00,
+0.00,
+0.00,
TRADJ1 +0.00,
+0.00,
+0.00,
+0.00,
+0.00
TRBUF 3, 100
Shine of changing parameter 21-111
21 Appendix
Explanation
In case of vision tracking, if
there is a workpiece not
recognized well by vision
sensor, it might reply over one
recognition results to one
workpiece. In this case, it makes
possible to get only one
recognition result excluding the
results with the distance which
is shorter than the distance set
by this parameter. For example,
it is recognized that 3 vision
sensors exist for 1 workpieces.
This one workpiece is got and
another 2 workpieces are not
got because the distance of
result is shorter than it set
20mm.
It is possible to adjust the gap
by using this parameter when
this gap is caused every time
in the same direction when the
tracking operates.
For example, the speed of
conveyer is 50mm/s and there is
+2mm gap (＋Y direction)
+2mm,
Set value = 4.0 (2 / 50 * 100 )
+4.0 is set to the second
element that shows Y
coordinates.
When three kinds of workpieces
flow respectively on the three
conveyers for one robot
controller, three tracking buffers
where workpiece information is
preserved are needed. In this
case, the first element of this
parameter is changed to three.
Moreover, when TrWrt
command is frequently executed
and TrRd command is slow,
workpiece information collects in
the tracking buffer. Because the
error occurs when 64
workpieces information or more
on an initial value collects, it is
necessary to increase the
number in which work
information is preserved. Then,
the second element of this
parameter is changed to 100.