Mitsubishi CR750-Q Series Instruction Manual page 90

16 Teaching and Setting of Adjustment Variables (
Set the position of the robot and conveyer, and the
PTN
direction where the workpiece moves.
X = The following values. (1 to 6)
Setting
value
1
2
3
4
5
6
PRNG Set range of motion where the robot judges
workpiece to be able to follow.
X = The start distance of the range in which the
Y = The end distance of the range in which the
Z = The distance in which follow is canceled
P3HR (For RH-3S*HR)
The singular point neighborhood can be moved in
RH-3S*HR at the joint operation.
However, when the tracking operation passes
over the singular point neighborhood for straight
line operation, the J1 axis accelerates rapidly and
speed limit (H213x error :x= axis number) is
generated.
Then, the singular point neighborhood is limited to
the tracking by setting this parameter.
X = The Time in which the robot can move over
Y = The Maximal speed for J3 axis
Z = The radius of area made singular point
16-80 Setting of adjustment variables in the program
Conveyer
position
Front
Front
Left side
Left
Right side
Right side
robot can follow a workpiece
robot can follow a workpiece
the workpiece
neighborhood
" "
1 Program)
When a conveyer is placed in front of the
robot and the workpiece moves from the
left to right: (When in view of the robot)
(X, Y, Z, A, B, C) = (+1,+0,+0,+0,+0,+0)
Conveyer
The relationship between PRNG and
direction
Right to Left
PTN is shown in "Figure 16−3 Diagram
Left to Right of Relationship between Adjustment
Variables "PRNG" and "PTN" in the
Right to Left
Program".
Left to Right
Right to Left
Left to Right
The relationship between PRNG and
PTN is shown in "Figure 16−3 Diagram
of Relationship between Adjustment
:(mm)
Variables "PRNG" and "PTN" in the
Program".
:(mm)
:(mm)
(X, Y, Z, A, B, C) =
Refer to "Figure 16−1 Diagram of
Relationship between Adjustment
Variables "PRNG" and "P3HR" in the
Program"
:(ms)
:(mm/s)
:(mm)
(+800,+1500,+60,+0,+0,+0)