Mitsubishi CR750-Q Series Instruction Manual page 129

<Workpiece placing>
Start
Move to over the
placement position
Set the ACC and DCC
Move to the
placement position
Turn suction OFF
Set the ACC and DCC
Move to over the
placement position
Set the ACC and DCC
to 100%
<Workpiece placing>
End
<Transportation data setting>
Start
Tracking base setting
Suction position setting
Interrupt definition
<Transportation data setting>
End
Wait flag?
１
０
Move to workpiece wait
posture PWAIT
Wait flag=1
<Tracked workpiece takeout>
Start
If a workpiece exists
No
Move to the escape position
Read data from the
tracking buffer
Transportation data setting
Acquire the
current workpiece position
Workpiece position
confirmation
Position of workpiece?
Wait(1)
Inside the area(2)
Set the ACC and DCC
Turn on the
interrupt watch.
Tracking operation start
Move to over the
tracking position
Set the ACC and DCC
Move to a suction
position
Turn suction ON
adsorbtion confirmation
Turning continuous
movrment control ON
Set the ACC and DCC
Move to over the
suction position
Tracking operation end
Turn off the
interrupt watch.
Set the ACC and DCC
to 100%
Wait flag=0
<Tracked workpiece takeout>
End
Chart of sample program 21-119
21 Appendix
Yes
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