12.
Sample Robot Programs .................................................................................................................. 12-48
13.
13.1.
Operation procedure ................................................................................................................. 13-49
13.2.
Tasks ........................................................................................................................................ 13-51
13.3.
13.4.
14.
14.1.
Operation procedure ................................................................................................................. 14-54
14.2.
(2) Tasks ................................................................................................................................... 14-57
14.3.
15.
15.1.
15.2.
Program for Vision Tracking ..................................................................................................... 15-67
16.
16.1.
Teaching ................................................................................................................................... 16-77
16.2.
17.
17.1.
17.2.
Program for Vision Tracking ..................................................................................................... 17-84
18.
Automatic Operation ......................................................................................................................... 18-85
18.1.
Preparation ............................................................................................................................... 18-85
18.2.
Execution .................................................................................................................................. 18-86
18.3.
At error occurrence ................................................................................................................... 18-86
18.4.
Ending ....................................................................................................................................... 18-86
18.5.
Adjusting method ...................................................................................................................... 18-86
19.
Maintenance of robot program ......................................................................................................... 19-87
19.1.
MELFA-BASIC V Instructions ................................................................................................... 19-87
19.1.1.
List of Instructions ................................................................................................................. 19-87
19.1.2.
19.1.3.
List of Functions .................................................................................................................... 19-88
19.1.4.
19.2.
19.2.1.
20.
Troubleshooting ................................................................................................................................ 20-98
20.1.
20.2.
Occurrence of Other Errors .................................................................................................... 20-100
20.3.
20.3.1.
20.3.2.
20.3.3.
20.3.4.
20.3.5.
20.3.6.
20.3.7.
21.
Appendix ......................................................................................................................................... 21-108
21.1.
21.2.
21.3.
21.4.
Chart of sample program ........................................................................................................ 21-115
21.4.1.
Conveyer tracking ............................................................................................................... 21-115
21.4.2.
Vision Tracking ................................................................................................................... 21-121
21.5.
Sample Programs ................................................................................................................... 21-125
21.5.1.
Conveyer Tracking .............................................................................................................. 21-125
21.5.2.
Vision Tracking ................................................................................................................... 21-134
21.5.3.
For RH-3S*HR .................................................................................................................... 21-139