Mitsubishi CR750-Q Series Instruction Manual page 37

Parameter
Parameter
name
Encoder EXTENC
number
allocation
TRCWDST
Tracking
Workpiece
judgement
distance
Number
of
element
8 Set connection destinations on the connector for
encoder numbers 1 to 8.
integers
Parameter elements correspond to encoder number
1, encoder number 2 ... encoder number 8 from the
left.
Setting value is iuput encoder physics number from
below list.
In case of CR750-D/CR751-D and CRnD-700
series, CH1 and CH2 of slot 1 to 3 are reservation.
At present, it cannot be used.
【In case of CR750-Q/CR751-Q, CRnQ-700 series】
Encoder
physics
number
1
2
3
4
5
6
7
8
It is convenient to check the status variable
"M_Enc" when determining the setting value of the
"EXTENC" parameter.
Please refer to "19.1.2 List of Robot Status
Variables" for the explanation of state variable
"M_Enc".
Please refer to "Detailed Explanations of Functions
and Operations" for how to check the status
variable.
1 Distance to judge that the same workpiece is being
integer tracked (mm)
The sensor reacts many times when the workpiece
with the ruggedness passes the sensor. Then, the
robot controller judged that one workpiece is two or
more pieces.
The sensor between values [mm] set to this
parameter does not react after turning on the
sensor.
To set the measure of workpieces flow is
recommended.
Explanation
Connection channel
(CR750-Q/CR751-Q,
CRnQ-700 series)
st
1 channel of Parameter
ENCUNIT1
2
nd
channel
3
rd
channel
st
1 channel of Parameter
ENCUNIT2
2
nd
channel
3 rd
channel
st
1 channel of Parameter
ENCUNIT3
2 nd
channel
Tracking Parameter Setting 6-27
6 Parameter Setting
Value set
at factory
shipping
1,2,3,4,
5,6,7,8
5.00