Mitsubishi CR750-Q Series Instruction Manual page 92

16 Teaching and Setting of Adjustment Variables (
Conveyer
Workpiece
movement direction
Z=230mm
135mm
Y=200mm
60mm
When the conveyer is placed at the right under
the robot and the workpiece moves from the
rear to front (= the X coordinate of PTN is "5")
and the operation range of tracking is set at
front of the robot.
PRNG は、（X,Y,Z）=(-65,+200,+230)
Figure
16−2
16-82 Setting of adjustment variables in the program
<Singular Adjustment Point>
The robot can not pass over the
singular adjustment point while
the tracking operation.
X= -65mm
Relationship of singular point neighborhood and tracking area
" "
1 Program)
Y= -95mm
X=230mm
135mm
When the conveyer is placed at the right under
the robot and the workpiece moves from the
rear to front (= the X coordinate of PTN is "5")
and the operation range of tracking is set at
backward the robot.
PRNG は、（X,Y,Z）=(+230,-95,-75)
Conveyer
Workpiece
movement direction
60mm
Z= -75mm