Mitsubishi CR750-Q Series Instruction Manual page 83

2) Enter the model number and encoder number in the X and Y coordinates of the position variable
"PRM1" in the program.
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display
"PRM1" on the position name.
<POS> JNT 100% PRM1
X:+0000.00
Y:+0000.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
TEACH
MOVE 123
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the
details. Input the model number into X coordinates.
<POS> JNT 100% PRM1
X:+0001.00
Y:+0000.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
(d) Y coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete
the details. Input the encoder number into Y coordinates.
<POS> JNT 100% PRM1
X:+0001.00
Y:+0001.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
TEACH
MOVE
123
(f) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PRM1
X:+0001.00
Y:+0001.00
Z:+0000.00
L1:+0000.00
FL1:00000007 FL2:00000000
NAME
DELETE
123
3) 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. Check the images and set the field of vision in the moving direction of the conveyer (mm) and the
length of workpieces detected by the vision sensor (length in the moving direction of the conveyer) in
the X and Y coordinates of the position variable "PRM2" in the program, respectively.
(a) Open the [Position data Edit] screen.
(b) Display "PRM2" at the position name.
(c) Enter the field of vision in the moving direction of the conveyer (mm) in the X coordinate.
(d) Enter the workpiece length detected by the vision sensor (length in the moving direction of the
conveyer (mm)) in the Y coordinate.
(d) Return to the [Command edit] screen.
挿入 CLOSE
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
Prev Next
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
Prev Next
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
Prev Next
A:+0000.00
B:+0000.00
C:+0000.00
L2:+0000.00
CHANGE CLOSE
15 Workpiece Recognition and Teaching (
<POS> JNT 100% P_100(0)
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
MOVE
123
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
Program for Vision Tracking 15-73
"
C1
Prev Next
挿入
CLOSE
"
program)