Mitsubishi Electric CR750-Q Instruction Manual page 230

4MELFA-BASIC V
<Number of
segments>
Work-
piece
Fig.4-19: Sensitive area of a sensor
[Reference Program]
1 Def Map 3,851,On,1,PC1,PC2,20,10 ' The position data of the mechanism No. 1 is recorded for the
2 Mov PM1
3 GpsChk On,3
4 Mvs PM2
5 GpsChk Off,3
6 M1=M_Gps(3)
7 If M1 = 0 Then Error 9000
8 For M2=1 To 20
9 M_Out(6100+M2)=M_Map3(M2)
10 Next M2
[Explanation]
(1) When the GpsChk Off command is executed, the segment number in which the workpiece is present is
calculated from the position data at the time when the target signal is inputted, based on the values set
in <Lowest position>, <Highest position>, <Number of segments>, and <Sensitivity>. As a result of the
calculation, "1" (the presence of the workpiece) or "0" (the absence of the workpiece) is stored in the
status variable M_MapX() ("X" indicates the same number as the target monitoring number from 1 to 8).
The segment number, an element in the M_MapX(), is counted from the position set in <Lowest
posiiton>, and "1" is output for the first segment (Data of the first segment is shown as "M_MapX(1)".)
4-210 Detailed explanation of command words
Workpiece
Pitch: 18mm
<Sensitivity> Setting range: 0.1 to 100mm
Set the distance from the center position of a workpiece thickness to the boundary of sensitive
and insensitive areas.
Sensor
Board (workpiece) thickness: 1.5mm
Sensor
monitoring No. 3 when the signal No. 851 is turned on, and the
mapping is executed according to the defined condition.
PC1: Lowest position (first segment) in a cassette, PC2: Highest
position (last segment) in a cassette, 20: the number of seg-
ments in a cassette (20 segments), 10: a sensitive area of a sen-
sor (10 mm)
' The robot moves its arm to the mapping start position.
' Monitoring a condition for the monitoring No. 3 is started.
' The position data of the mechanism No. 1 is recorded when the
signal No. 851 is turned on.
Based on the position data, the segment number in which the
workpiece is present is shown as "M_Map3(130)".
' The robot moves its arm to the mapping stop position.
' Monitoring a condition for the monitoring No. 1 is stopped. Using
the recorded position data, the segment number in which the
workpiece is present is stored in the M_Map3.
' The number of the position data recorded in the P_Gps3 is
stored.
' The error 9000 is generated if no position data is recorded.
' The results of the mapping are output with a signal (the signal
number "6101" is assigned for the first result).
' The process performed for the first segment is repeated for the
remaining segments.
Hand lifter
<Highest position>
(XYZ coordinate values)
Sensitive area (within the range set in
<Sensitivity>)
Insensitive area (out of the range set in
<Sensitivity>)
(Data of a position detected in the insensitive
area is canceled.)
Hand lifter
<Lowest position>
(XYZ coordinate values)