Mitsubishi CR750-Q Series Instruction Manual page 67

14 Calibration of Vision Coordinate and Robot Coordinate Systems (
14.2. Tasks
Set the encoder number to the X coordinates value of position variable: "PE."
1)
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display "PE"
on the position name.
<POS> JNT 100% PE
X:+0000.00
Y:+0000.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
TEACH
MOVE
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the
details. Input the encoder number into X coordinates.
<POS> JNT 100% PE
X:+0001.00
Y:+0000.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
(d) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PE
X:+0001.00
Y:+0000.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
NAME
DELETE
2) Start In-Sight Explorer and make the vision sensor into the off-line. Select the [Live Video] of "Set Up
Image" in "Application Steps" Menu and display the picture which the vision sensor picturized on real
time. Refer to the manual obtained from the Cognex for operation of In-Sight Explorer.
: B1.prg
挿入 CLOSE
123
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
Prev Next
123
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
Prev Next
123
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
CHANGE CLOSE
123
<POS> JNT 100% P1
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
TEACH Prev
MOVE
123
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
挿入
DIRECT CHANGE
123
" "
B1 program)
Next
CLOSE
Tasks 14-57