Mitsubishi CR750-Q Series Instruction Manual page 91

<Restrictions of RH-3S*HR when using the tracking function>
The RH-3S*HR can not pass over the singular adjustment point while the tracking operation.
It is necessary to avoid singular adjustment point and place the conveyer.
As shown in Figure 16−1 or Figure 16−2, If the conveyer is installed at right under the robot, the operation range
of tracking must been setting out of range of singular adjustment point.
600mm
Figure Diagram of Relationship between Adjustment Variables "PRNG" and "P3HR" in the Program
16−1
16 Teaching and Setting of Adjustment Variables (
Conveyer
PRNG
X=300mm
PRNG
Y=300mm
Setting of adjustment variables in the program 16-81
Workpiece
movement direction
Distance that the robot can follow a
workpiece calculated by X value, Y
value, speed of conveyer, and PUP1
value.
Z=60mm
PRNG
Z=400mm
" "
1 Program)