Mitsubishi Electric CR750-Q Instruction Manual page 229

Def Map (Define mapping)
[Function]
This command defines the monitored condition for the mapping (the workpiece presence recognition) in a
cassette, using the get-position-quick function (GPS function).
[Format]
Def[]Map[] <Monitoring No.>, <Input No.>, <Condition>, [<Mechanism No.>],
<Lowest position>, <Highest position>, <Number of segments>, <Sensitivity>
[Terminology]
<Monitoring No.>
<Input No.>
<Condition>
<Mechanism No.>
<Lowest position>/<Highest position>Set the lowest/highest position to detect a workpiece in a cassette in
<Number of segments>
<Sensitivity>
The target monitoring number. Set it with a constant number from 1 to 8.
Set the target input signal number for the monitoring.
Servo digital input: 850 to 852
SKIP input: 801 to 803
Specify the signal-on/off status as a trigger.
The robot position data is stored when the signal set in <Input No.> is turned on/off.
Set value
On On the rising edge of target input signal
Off On the falling edge of target input signal
Set the target mechanism number for the position data acquisition. (If the argument
is omitted, 1 is set as the default value.)
<Lowest position>/<Highest position>.
The set positions must be in the path of robot's linear movement for detection.
The position set in <Lowest position> is defined as the first segment in the
cassette. If the lowest/highest position is set oppositely, the highest position
set in <Lowest position> is defined as the first segment.
Set the number of segments in the cassette.
Based on the set number of segments, each space divided equally between the
lowest and highest positions is regarded as a segment.
Setting range: 1 to 130 (segments)
Set the sensitive area of a sensor for improvements in accuracy to detect the pres-
ence of a workpiece. (Refer to
When a position outside the set sensitive area is detected, the detection data is
not used for the workpiece presence recognition because the detection information
is canceled.
Setting range: 0.1 to 100 (mm)
(0.1 to 100 (deg.) for a multi-mechanism with single axis of rotation)
Conditions
Fig. 4-19.)
Detailed explanation of command words 4-209
4MELFA-BASIC V