Mitsubishi CR750-Q Series Instruction Manual page 60

13 Calibration of Conveyer and Robot Coordinate Systems (
6) Press the [FUNCTION] key, and change the function display
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME
4 '# Create/version : 2006.04.21 A1
EDIT DELETE
7) Press the [F1] (FWD) key and execute step feed. "(1)Encoder No ......." is displayed
<PROGRAM> A1
4 '# Create/version : 2006.04.21 A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1)Encoder No. ....
JUMP
FWD
8) Work according to the comment directions in the robot program.
9) Next "' (2) On conveyor both .. Execute step feed to ".
<PROGRAM> A1
9 MECMAX=8
10 If PE.X<1 Or PE.X>MECMAX Then Er
11 MENCNO=PE.X
12 '(2)On conveyor both ....
JUMP
FWD
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
<PROGRAM> A1
STEP (1 ）
○
○
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the
program.
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME
4 '# Create/version : 2006.04.21 A1
EDIT DELETE
Area recognized by
a workpiece sensor
* (1) - (6) in the figure shows the details of operations in the sample program.
Figure
13-50 Operation procedure
: A1.prg
INSERT TEACH
123
挿入 BWD
123
挿入
BWD
123
○
CLOSE
123
: A1.prg
INSERT TEACH
123
(3) Z-axis elevation
(1) Attach a sticker
(2) Robot movement
 Encoder data acquisition

Position acquisition
Conveyer and Robot Calibration Operation Diagram
13−1
" "
A1 program)
<プログラム> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
JUMP 挿入
FWD 123
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE INSERT
123
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
挿入
DIRECT CHANGE
123
(4) Sticker movement


BWD
TEACH
CLOSE
(6) Z-axis elevation
(5) Robot movement
Encoder data acquisition
Position acquisition