Mitsubishi CR750-Q Series Instruction Manual
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Mitsubishi CR750-Q Series Instruction Manual

Tracking system and vision tracking system using mitsubishi robot
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Mitsubishi Industrial Robot
CR750/CR751 series controller
CRn-700 series controller
Tracking Function
INSTRUCTION MANUAL
BFP-A8664-H

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Summary of Contents for Mitsubishi CR750-Q Series

  • Page 1 Mitsubishi Industrial Robot CR750/CR751 series controller CRn-700 series controller Tracking Function INSTRUCTION MANUAL BFP-A8664-H...
  • Page 3 Safety Precautions Always read the following precautions and separate "Safety Manual" carefully before using robots, and take appropriate action when required. Teaching work should only be performed by those individuals who have undergone special Caution training. (The same applies to maintenance work with the robot power ON.) →...
  • Page 4 The following precautions are taken from the separate "Safety Manual". Refer to the "Safety Manual" for further details. Use robots in an environment stipulated in the specifications. Caution Failure to observe this may result in decreased reliability or breakdown. (Temperature, humidity, atmosphere, noise environment, etc.) Caution Only transport robots in the manner stipulated.
  • Page 5 Caution Do not perform unauthorized modifications or use maintenance parts other than those stipulated. Failure to observe this may result in breakdown or malfunction. If moving the robot arm by hand from outside the enclosure, never insert hands or Warning fingers in openings.
  • Page 6 Revision history Specifications No. Date of print Details of revisions 2009-02-10 BFP-A8664-* First print 2009-10-23 The EC Declaration of Conformity was changed. BFP-A8664-A (Correspond to the EMC directive; 2006/42/EC) 2010-04-30 The tracking function is realized to SQ series. BFP-A8664-B 2010-10-18 BFP-A8664-C The notes were added about physical encoder number (List 1-1) and No.9 (List 1-2).
  • Page 7 Preface Thank you very much for purchasing Mitsubishi Electric Industrial Robot. The tracking function allows robots to follow workpieces on a conveyer or transport, line up and process the workpieces without having to stop the conveyer. The conveyor tracking function is the standard function in the controller.

  • Page 8: Table Of Contents

    [Contents] [Part 1] Overview .........................1-1 Overview ..............................1-1 1.1. What is the Tracking Function? ......................1-1 1.2. Applications ............................1-2 1.3. Contents of this manual ........................1-3 1.4. The generic name and abbreviation ....................1-4 1.5. System that can achieve ........................1-5 [Part 2] System Configuration and Setting (CR750-Q/CR751-Q series, CRnQ-700 series) ..............................1-6 System Configuration ..........................
  • Page 9 Sample Robot Programs ........................12-48 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)........13-49 13.1. Operation procedure ......................... 13-49 13.2. Tasks ............................13-51 13.3. Confirmation after operation ..................... 13-53 13.4. When multiple conveyers are used ..................13-53 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program) ......14-54 14.1.

  • Page 11: [Part 1] Overview

    3) It is possible to follow changes of movement speed due to automatic calculation of conveyer movement speed. 4) Tracking function can be easily achieved by using Mitsubishi’s robot command MELFA-BASIC V. 5) System construction is made easy by use of sample programs.

  • Page 12: Applications

    1 Overview 1.2. Applications Tracking is primarily intended for applications such as the following. (1) Transfer of processed food pallets Figure Example of Processed Food Pallet Transfer 1−1 (2) Lining up parts Figure Example of Parts Lineup 1−2 (3) Assembly of small electrical products Figure Example of Small Electrical Products Assembly 1−3...

  • Page 13: Contents Of This Manual

    Contents of this manual This manual explains the operation procedure when the customer use conveyer tracking system and vision tracking system using Mitsubishi robot. The robot model are CR750-Q/CR751-Q/CRnQ-700 series and CR750-D/CR751-D/CRnD-700 series, however there are H/W differences. Please read as following.
  • Page 14 1 Overview 1.4. The generic name and abbreviation List 1-1 generic name and abbreviation Contents Generic name and abbreviation Tracking function The tracking function allows a robot to follow workpieces moving on a conveyer. With this function, it becomes possible to transport line up and process workpieces without having to stop the conveyer.

  • Page 15: System That Can Achieve

    1 Overview 1.5. System that can achieve With the tracking function of CR750-Q/CR751-Q/CRnQ-700 series, CR750-D/CR751-D/CRnD-700 series, the example of the system that can be achieved is shown as following. List 1-2 Example of system that can be achieved by the tracking function CR750-Q CR750-D CR751-Q...

  • Page 16: [Part 2] System Configuration And Setting (Cr750-Q/Cr751-Q Series, Crnq-700 Series)

    2 System Configuration [Part 2] System Configuration and Setting (CR750-Q/CR751-Q series, CRnQ-700 series) 2. System Configuration 2.1. Components 2.1.1. Robot controller enclosure products The product structure of the tracking functional relation enclosed by the robot controller is shown in the Table 2−1.
  • Page 17 2 System Configuration Name of devices to be Model Quantity Remark provided by customers Conveyer part Conveyer Encoder: Voltage output/open collector type (with encoder) Line driver output [Confirmed operation product] − Omron encoder (E6B2-CWZ1X-1000 or -2000) Encoder cable (Recommended product）： 2D-CBL05/2D-CBL15 [*]The Q173DPX unit supplies 5V power supply to the encoder.
  • Page 18 2 System Configuration Name of devices to be Model Quantity Remark provided by customers Conveyer part Conveyer Encoder: Voltage output/open collector type (with encoder) Line driver output [Confirmed operation product] − Omron encoder (E6B2-CWZ1X-1000 or -2000) Encoder cable (Recommended product）： 2D-CBL05/2D-CBL15 [*]The Q173DPX unit supplies 5V power supply to the encoder.

  • Page 19: Example Of System Configuration

    2 System Configuration 2.2. Example of System Configuration The following figure shows examples of conveyer tracking systems and vision tracking systems. 2.2.1. Configuration Example of Conveyer Tracking Systems The following figure shows a configuration example of a system that recognizes lined-up workpieces on a conveyer passing a photo electronic sensor and follows the workpieces.

  • Page 20: Configuration Example Of Vision Tracking Systems

    2 System Configuration 2.2.2. Configuration Example of Vision Tracking Systems The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces. Robot CPU Q173DPX Controler...

  • Page 21: Specification

    Q173DPX unit. （Input signal number 810～817） And a momentary encoder value that the input enters is preserved in state variable "M_EncL". Mitsubishi’s network vision sensor Vision sensor（*4） Approximately ±2 mm (when the conveyer speed is approximately 300 Precision at handling...

  • Page 22: Operation Procedure

    4. Operation Procedure This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750-Q/CR751-Q series, CRnQ-700 series. 1. Start of operation Connection of Equipment ······································································· Refer to “Chapter 5.”...

  • Page 23: Connection Of Equipment

    5 Connection of Equipment Connection of Equipment This section explains how to connect each of the prepared pieces of equipment. 5.1. Preparation of Equipment Prepare equipment by referring to “Table 2−2 List of Devices Provided by Customers (Conveyer Tracking)” to construct a conveyer tracking system and “Table 2−3 List of Devices Provided by Customers (Vision Tracking)”...

  • Page 24: Ｑ１７３Ｄｐｘ（Manual Pilser Input） Unit Specification

    5 Connection of Equipment Ｑ１７３ＤＰＸ（manual pilser input） unit specification 5.1.1. Add Q173DPX unit into PLC base unit （ Q3□DB ） when the customer use CR750-Q/CR751-Q series, CRnQ-700 series tracking function. Please refer to "Q173DCPU/Q172DCPU user's manual" about details of this unit. (1) External and name of Q173DPX unit Figure Externals of Q173DPX unit...
  • Page 25 5 Connection of Equipment (2) Dip switch By setting the dip switch, the condition of the tracking enable signal is decided. List 5-1 Item of dip switch Preparation of Equipment 5-15...
  • Page 26 5 Connection of Equipment (3) Specification of hardware 7.1ms 5-16 Preparation of Equipment...
  • Page 27 5 Connection of Equipment (4) Wiring The pin layout of the Q173DPX PULSER connecter viewed from the unit is shown below. Figure 5−2 Pin assignment of the PULSER connector Preparation of Equipment 5-17...
  • Page 28 5 Connection of Equipment Interface between PULSER connecter and manual pulse generator (Differential-output type)/ Incremental synchoronous encoder Figure 5−3 Wiring connection with rotary encoder As above image, because DC5V voltage is output from Q173DPX unit, it makes possible to supply 5V from Q173DPX unit to rotary encoder.
  • Page 29 5 Connection of Equipment The interface between tracking enable signal is shown follow. This signal is used for input signal when the sensor is used to find workpieces so please photoelectronic connect output signal of sensor. photoelectronic Figure 5−4 Connected composition of tracking enable signal Preparation of Equipment 5-19...

  • Page 30: Connection Of Equipment

    5 Connection of Equipment 5.2. Connection of Equipment The connection with each equipments is explained as follow. 5.2.1. Connection of Unit Q173DPX unit is connected to base unit （Q3□DB） or Q6□B increase base unit. Figure 5−5 Connected composition of units The connection robot system with Q173DPX unit is shown as follow.

  • Page 31: Connection With Encoder For Conveyer And Encoder Cable

    5 Connection of Equipment 5.2.2. Connection with encoder for conveyer and encoder cable E6B2-CWZ1X (made by Omron) is used, and the wiring for the encoder and the encoder cable for the conveyer is shown in "Figure 5-2 the encoder for the conveyer and the wiring diagram of the encoder cable".
  • Page 32 5 Connection of Equipment The wiring example by the thing is shown below. (Please note that the connector shape is different depending on the controller. ) Figure 5−7 Wiring example (CR75x-Q/ CRnQ-700 series controller) 5-22 Connection of Equipment...

  • Page 33: Connection Of Photoelectronic Sensor

    5 Connection of Equipment 5.2.3. Connection of Photoelectronic Sensor If a photoelectronic sensor is used for detection of workpieces, connect the output signal of the photoelectronic sensor to a tracking enable signal of the Q173DPX unit. In this section, a connection example where the photoelectronic sensor signal is connected to the tracking enable signal is shown in “...
  • Page 34 5 Connection of Equipment The tracking enable signal is connected to the robot input signal as follows. List 5-3 List with signal crack of tracking enable signal (TREN) Connection channel Robot Input signal number Encoder physics CR750-Q/CR751-Q series, number CRnQ-700 series channel of Parameter ENCUNIT1 channel...

  • Page 35: Parameter Setting

    6 Parameter Setting 6. Parameter Setting This chapter explains how to set dedicated input/output signals that play the role of interface between a robot and an external device (e.g., a Programmable Logic Controller) and parameters related to the tracking function. Please refer to “Detailed Explanations of Functions and Operations”...

  • Page 36: Tracking Parameter Setting

    6 Parameter Setting 6.3. Tracking Parameter Setting Specify to which channel of the encoder connector (CNENC) an encoder of conveyer is connected. “Table 6-3 Tracking Parameter Setting” lists the parameters to be set. Other parameters are shown in “Table 21-1 List of Tracking Parameters”, make settings as required. 6.3.1.
  • Page 37 6 Parameter Setting Number Value set Parameter Explanation Parameter at factory name element shipping Encoder EXTENC Set connection destinations on the connector for 1,2,3,4, 5,6,7,8 encoder numbers 1 to 8. number integers allocation Parameter elements correspond to encoder number 1, encoder number 2 … encoder number 8 from the left.

  • Page 38: Sequencer Cpu Parameter Setting

    6 Parameter Setting 6.3.2. Sequencer CPU Parameter Setting It is necessary to set multi CPU related parameters for both the sequencer CPU and robot CPU In order to use the sequencer link function. a) Multiple CPU setting : Set the number of CPU units. b) I/O assignment : Select I/O units and/or Intelligent units.
  • Page 39 6 Parameter Setting (3) Double-click the “Multiple CPU Setting” Set the number of CPU and this system area size (K Points) (4) Double-click the “I/O assignment” When Q173DPX unit is attached to fifth slot, change the type of slot 5 to the “Intelligent”. Tracking Parameter Setting 6-29...
  • Page 40 6 Parameter Setting (5) Click the “Detailed Setting” button. Because the robot CPU manages the Q173DPX unit, change the Control PLC of slot 5 to the “PLC No.2” (Robot CPU). 6) Click the “END” button. The Parameters are memorized into the sequencer CPU. The following work is confirming the operation of the robot by the sample program.

  • Page 41: [Part 3] System Configuration And Setting (Cr750-D/Cr751-D Series, Crnd-700 Series)

    7 System Configuration [Part 3] System Configuration and Setting (CR750-D/CR751-D series, CRnD-700 series) 7. System Configuration 7.1. Components 7.1.1. Robot controller enclosure products The product structure of the tracking functional relation enclosed by the robot controller is shown in the Table 2−1.
  • Page 42 7 System Configuration Name of devices to be Model Quantity Remark provided by customers Encoder distribution unit The Encoder distribution unit is required when two or more robot controllers are connected to the one encoder. Provide this unit as necessary. 2F-YZ581 If the Encoder distribution unit is used, a 5V power source for the encoder is not necessary.
  • Page 43 7 System Configuration Name of devices to be Model Quantity Remark provided by customers Vision sensor part 4D-2CG5xxxx-PK See the instruction manual of the network vision Basic network vision sensor set sensor for details In-Sight 5000 series COGNEX Vision sensor In-Sight Micro series −...

  • Page 44: Example Of System Configuration

    7 System Configuration 7.2. Example of System Configuration The following figure shows examples of conveyer tracking systems and vision tracking systems. 7.2.1. Configuration Example of Conveyer Tracking Systems The following figure shows a configuration example of a system that recognizes lined-up workpieces on a conveyer passing a photoelectronic sensor and follows the workpieces.

  • Page 45: Configuration Example Of Vision Tracking Systems

    7 System Configuration 7.2.2. Configuration Example of Vision Tracking Systems The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces. Robot Controller Ｒ...

  • Page 46: Specification

    Cable length: Up to 25 m Photoelectronic sensor (*3) Used to detect workpieces positions in conveyer tracking. Vision sensor (*4) Mitsubishi’s network vision sensor Approximately ±2 mm (when the conveyer speed is approximately 300 mm/s) Precision at handling position (*5)

  • Page 47: Operation Procedure

    9. Operation Procedure This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750-D/CR751-D series, CRnD-700 series. 1. Start of operation Connection of Equipment····································································· Refer to “Chapter 10.”...

  • Page 48: Connection Of Equipment

    10 Connection of Equipment Connection of Equipment This section explains how to connect each of the prepared pieces of equipment. 10.1. Preparation of Equipment Prepare equipment by referring to “Table 2−2 List of Devices Provided by Customers (Conveyer Tracking)” to construct a conveyer tracking system and “Table 2−3 List of Devices Provided by Customers (Vision Tracking)”...
  • Page 49 10 Connection of Equipment CNENC connector Terminal Figure Wiring of the encoder for conveyors and encoder cable (CRnD-700 series controller) 10−1 Refer to "Table 21−3 Connectors: CNENC/CNUSR Pin Assignment" with pin assignment of connector CNENC. The wiring example by the thing is shown below. (Please note that the connector shape is different depending on the controller.
  • Page 50 10 Connection of Equipment +5V power <CR751-D <CR750-D supply unit connector> connector> Terminal Brown(+5V) CNUSR1 28 CNUSR11 6 CH1 SG Blue(+0V) CNUSR1 33 CNUSR12 6 CNUSR1 21 CNUSR13 3 LAH1 Black CNUSR1 46 CNUSR13 4 LAL1 Black/Red stripe Ferrite core CNUSR1 22 CNUSR13 5 LBH1...

  • Page 51: Installation Of Encoder Cable

    10 Connection of Equipment 10.2.2. Installation of encoder cable The installation method of the encoder cable is shown by controller to be used. *CR750-D series: "Figure 10-6 Installation of encoder cable (CR750-D series) " *CR751-D series: "Figure 10-7 Installation of encoder cable (CR751-D series)" *CR1D-700 series: "Figure 10-8 Installation of encoder cable (CR1D-700 series) "...
  • Page 52 10 Connection of Equipment (2)CR751-D series <CR750-D series controller (front)> <CR751-Dシリーズコントローラ(前面)> Within 300mm 300mm以内 CNUSR2 connector CNUSR2コネクタ Encoder cable エンコーダケーブル Ferrite core (attachment) フェライトコア（付属品） 2回通し Pass twice Figure 10-7 Installation of encoder cable (CR751-D series) (3)CR1D-700 series Connect the encoder cable to the connector of the [CNENC] display. And, the ground of the cable uses the rear cover.
  • Page 53 10 Connection of Equipment (4)CR2D-700 series Connect the encoder cable to the connector of the [CNENC] display. And, the ground of the cable uses the rear cover. Rear cover Less than 300mm Connector:CNENC Encoder cable Cable ground clamp position *1 Ferrite core (ground clamp attachments) (attachments)
  • Page 54 10 Connection of Equipment (6)Measures against the noise The example of noise measures of the tracking system is shown in the following. Please implement the measures against the noise if needed in the power supply periphery section for the encoders which prepared of the customer. 1) Please insert AC line filter (recommendation: MXB-1210-33 * Densei-Lambda) in the AC input side cable of the power supply for the encoders.

  • Page 55: Connection Of Photoelectronic Sensor

    10 Connection of Equipment 10.2.3. Connection of Photoelectronic Sensor If a photoelectronic sensor is used for detection of workpieces, connect the output signal of the photoelectronic sensor to a general input signal of the robot controller. Any general input signal number of the robot controller can be selected.

  • Page 56: Parameter Setting

    11 Parameter Setting 11. Parameter Setting This chapter explains how to set dedicated input/output signals that play the role of interface between a robot and an external device (e.g., a Programmable Logic Controller) and parameters related to the tracking function. Please refer to “Detailed Explanations of Functions and Operations”...

  • Page 57: Tracking Parameter Setting

    11 Parameter Setting 11.3. Tracking Parameter Setting Specify to which channel of a Encoder connector(CNENC) an encoder of a conveyer is connected. “Table 11 − 3 Tracking Parameter Setting” lists the parameters to be set. Other parameters are shown in “Table 16-1 List of Tracking Parameters”;...

  • Page 58: [Part 4] Tracking Control (Common Function Between Series)

    12 Sample Robot Programs [Part 4] Tracking Control (common function between series) (Take note that there are some aspects which differ between CR750-Q, CR751-Q, CRnQ-700 series and CR750-D, CR751-D, CRnD-700 series.) Sample Robot Programs This chapter explains the structure of the sample robot programs. Two types of sample robot programs are provided;...

  • Page 59: Calibration Of Conveyer And Robot Coordinate Systems ("A1" Program)

    3) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear. MELFA CR75x-D Ver. S3 <MENU> RH-3FH5515-D 1.FILE/EDIT 2.RUN COPYRIGHT (C) 2011 MITSUBISHI ELEC 3.PARAM 4.ORIGIN/BRK TRIC CORPORATION ALL RIGHTS RESE 5.SET/INIT RVED ○ ○...
  • Page 60 INSERT TEACH 7) Press the [F1] (FWD) key and execute step feed. "(1)Encoder No .." is displayed <PROGRAM> A1 4 '# Create/version : 2006.04.21 A1 5 '# COPYRIGHT : MITSUBISHI ELECTRIC 6 '################################## 7 '(1)Encoder No..JUMP 挿入 8) Work according to the comment directions in the robot program.
  • Page 61 “ ” 13 Calibration of Conveyer and Robot Coordinate Systems ( program) 13.2. Tasks 1) Set the encoder number to the X coordinates value of position variable: "PE." (a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen. <PROGRAM>...

  • Page 62: Tasks

    “ ” 13 Calibration of Conveyer and Robot Coordinate Systems ( program) 2) Attach a marking sticker on the conveyer (a sticker with an X mark is the best choice for the marking sticker). Drive the conveyer and stop it when the marking sticker comes within the robot movement range. Robot Robot movement of range Ｒ...

  • Page 63: Confirmation After Operation

    “ ” 13 Calibration of Conveyer and Robot Coordinate Systems ( program) 13.3. Confirmation after operation Check the value of “P_EncDlt” using T/B. * This value indicates the movement of each coordinate (mm) of the robot coordinate system, corresponding to the movement of the conveyer per pulse. Example) If ”0.5”...

  • Page 64: Calibration Of Vision Coordinate And Robot Coordinate Systems ("B1" Program)

    Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation. 14.1. Operation procedure To communicate the Mitsubishi robot tool and the vision sensor, set a necessary parameter by using RT ToolBox2. A necessary parameter is three (“NETIP", "Element 9 of NETTERM", and “CTERME19").
  • Page 65 Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear. MELFA CR75x-D Ver. S3 <MENU> RH-3FH5515-D 1.FILE/EDIT 2.RUN COPYRIGHT (C) 2011 MITSUBISHI ELEC 3.PARAM 4.ORIGIN/BRK TRIC CORPORATION ALL RIGHTS RESE 5.SET/INIT RVED ○ ○...
  • Page 66 INSERT TEACH Press the [F1] (FWD) key and execute step feed. "(1)Encoder No .." is displayed <PROGRAM> B1 4 '# Create/version : 2006.04.21 A1 5 '# COPYRIGHT : MITSUBISHI ELECTRIC 6 '################################## 7 '(1)Encoder No..JUMP 挿入 Work according to the comment directions in the robot program.
  • Page 67 “ ” 14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) 14.2. Tasks Set the encoder number to the X coordinates value of position variable: "PE." (a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen. <PROGRAM>...

  • Page 68: 2) Tasks

    14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) Paste appendix calibration seat to "Mitsubishi robot tool manual for EasyBuilder" on the conveyer. Paste calibration seat within the field of vision checking the live images of In-Sight Explorer.
  • Page 69 “ ” 14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) End [Live Video] of In-Sight Explorer, and select [Inspect Part] button of “Application Steps”. Select [Geometry Tools] - [User-Defined Point] in “Add tool”. Figure 14−4 Screen of In-Sight Explorer from which calibration seat is taken picture Click [Add] button.
  • Page 70 14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) Select [Mitsubishi Robot Tool] – [Mitsubishi N-point calibration] in “Add Tool” column of this tool. Click [Add] button. Select “User-Defined point” three points specified ahead from nine displayed marks.
  • Page 71 “ ” 14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) 12) Move the calibration seat by starting the conveyer within the robot movement range. 13) Move the robot to the position right above the first mark on the conveyer. Move the robot to first point 14) Click [Get position] button in “Edit Tool”...

  • Page 72: Confirmation After Operation

    “ ” 14 Calibration of Vision Coordinate and Robot Coordinate Systems ( program) 14.3. Confirmation after operation Check the value of “M_100()” using T/B. Enter the encoder number in the array element. Confirm that the differences between the encoder values acquired on the vision sensor side and the encoder values acquired on the robot side are set in “M_100().”...

  • Page 73: Workpiece Recognition And Teaching ("C1" Program)

    Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear. MELFA CR75x-D Ver. S3 <MENU> RH-3FH5515-D 1.FILE/EDIT 2.RUN COPYRIGHT (C) 2011 MITSUBISHI ELEC 3.PARAM 4.ORIGIN/BRK TRIC CORPORATION ALL RIGHTS RESE 5.SET/INIT RVED ○ ○...
  • Page 74 INSERT TEACH Press the [F1] (FWD) key and execute step feed. "(1)Vision No .." is displayed <PROGRAM> C1 4 '# Create/version : 2006.04.21 A1 5 '# COPYRIGHT : MITSUBISHI ELECTRIC 6 '################################## 7 '(1) Vision No..JUMP 挿入 Work according to the comment directions in the robot program.
  • Page 75 “ ” 15 Workpiece Recognition and Teaching ( program) (2) Tasks Enter the model number, encoder number and number of the sensor that monitors the workpieces in the X, Y and Z coordinates of the position variable “PRM1” in the program. (a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
  • Page 76 “ ” 15 Workpiece Recognition and Teaching ( program) Move a workpiece to the location where the sensor is activated. * With this operation, encoder data is acquired. Drive the conveyer to move the workpiece within the robot movement range. Move the robot to the position where it suctions the workpiece.

  • Page 77: Program For Vision Tracking

    Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear. MELFA CR75x-D Ver. S3 <MENU> RH-3FH5515-D 1.FILE/EDIT 2.RUN COPYRIGHT (C) 2011 MITSUBISHI ELEC 3.PARAM 4.ORIGIN/BRK TRIC CORPORATION ALL RIGHTS RESE 5.SET/INIT RVED ○ ○...
  • Page 78 INSERT TEACH Press the [F1] (FWD) key and execute step feed. "(1)Vision No .." is displayed <PROGRAM> C1 4 '# Create/version : 2006.04.21 A1 5 '# COPYRIGHT : MITSUBISHI ELECTRIC 6 '################################## 7 '(1) Vision No..JUMP 挿入 Work according to the comment directions in the robot program.
  • Page 79 “ ” 15 Workpiece Recognition and Teaching ( program) (2) Tasks Make the vision program. Select [File] – [New Job] from the menu. Take picture of workpiece. Click [Set Image] button from “Application Steps”. Click [Live Video] button. Take picture of workpiece that does the tracking.
  • Page 80 “ ” 15 Workpiece Recognition and Teaching ( program) Register workpiece. (preparation) Click [Locate Part] from “Application Steps”. Select "PatMax Pattern" from “Add Tool”, and click [Add] button. Register workpiece. (Model registration) Move the displayed "Model" frame, and enclose workpiece. Click [OK] button in “Directions”.
  • Page 81 Click [Communication] from “Application Do the communication setting. Steps”. Click [Addi Device] from "Communications". Select the following from "Device Setup". [Device:] "Robot" [Manufacturer:] "Mitsubishi” [Protocol:] "Ethernet Native String" Click [OK] button. Set the communication format. (preparation) Click [Add] button from "Format Output String".
  • Page 82 “ ” 15 Workpiece Recognition and Teaching ( program) Confirmation of communication format Confirm the value enclosed with a square frame. Data sent to the robot controller is shown in a right square frame. Change the value of [Decimal Places], and change the number of decimal positions of transmitted data.
  • Page 83 “ ” 15 Workpiece Recognition and Teaching ( program) Enter the model number and encoder number in the X and Y coordinates of the position variable “PRM1” in the program. (a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen. <PROGRAM>...
  • Page 84 “ ” 15 Workpiece Recognition and Teaching ( program) Specify a communication line to be connected with the vision sensor. (a) Open the [Command edit] screen. <PROGRAM> C1 1 '## Ver.A1 ######################## 2 '# tracking robot‐conveyor calibra 3 '# NAME : C1.prg 4 '# Create/version : 2006.04.21 A1 DELETE...
  • Page 85 “ ” 15 Workpiece Recognition and Teaching ( program) Using T/B, close the opened “C1” program once and then run the modified “C1” program automatically with the robot controller. Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
  • Page 86 “ ” 15 Workpiece Recognition and Teaching ( program) After automatic operation, “C1” program automatically stops and the LED of the [STOP] button is turned on. Open “C1” program again with T/B. Press the [F1](FWD) key to display the subsequent operation messages.

  • Page 87: Teaching And Setting Of Adjustment Variables ("1" Program)

    “ ” 16 Teaching and Setting of Adjustment Variables ( Program) Teaching and Setting of Adjustment Variables (“1” Program) This chapter explains operations required to run “1” program. * “1” program settings are required for both conveyer tracking and vision tracking. “1”...

  • Page 88: Setting Of Adjustment Variables In The Program

    “ ” 16 Teaching and Setting of Adjustment Variables ( Program) 16.2. Setting of adjustment variables in the program The following section explains how to set adjustment variables, which are required at transportation, and details about their setting. Please refer to separate manual “Detailed Explanations of Functions and Operations” for how to set adjustment variables.
  • Page 89 “ ” 16 Teaching and Setting of Adjustment Variables ( Program) PAC2 When the following values are set: When operating by the adsorption of workpiece, Acceleration until moving to the the acceleration and the deceleration when workpiece suction position. : 10% moving to the workpiece suction position are set.
  • Page 90 “ ” 16 Teaching and Setting of Adjustment Variables ( Program) Set the position of the robot and conveyer, and the When a conveyer is placed in front of the direction where the workpiece moves. robot and the workpiece moves from the X = The following values.
  • Page 91 “ ” 16 Teaching and Setting of Adjustment Variables ( Program) <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.
  • Page 92 “ ” 16 Teaching and Setting of Adjustment Variables ( Program) Conveyer Conveyer <Singular Adjustment Point> Workpiece Workpiece The robot can not pass over the movement direction movement direction singular adjustment point while the tracking operation. Z=230mm 135mm Y=200mm X= -65mm 60mm 60mm Z= -75mm...
  • Page 93 “ ” 16 Teaching and Setting of Adjustment Variables ( Program) 400mm 800mm Conveyer Conveyer Y=100mm Y=300mm X=300mm X=500mm Z=200mm Z=400mm Workpiece Workpiece movement direction movement direction When the conveyer is placed in front of the When the conveyer is placed in front of the robot and the workpiece moves from the right robot and the workpiece moves from the left to left (= the X coordinate of PTN is “1”)

  • Page 94: Sensor Monitoring Program ("Cm1" Program)

    “ ” 17 Sensor Monitoring Program ( Program) 17. Sensor Monitoring Program (“CM1” Program) This chapter provides an overview of “CM1” program, which is run in parallel, when “1” program is run. Different types of “CM1” programs are used for conveyer tracking and vision tracking, and different processing is performed for them.

  • Page 95: Automatic Operation

    18 Automatic Operation 18. Automatic Operation This chapter explains how to prepare the robot before starting the system. 18.1. Preparation 1) Check that there is no interfering object within the robot movement range. 2) Prepare to run the desired program. Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.

  • Page 96: Execution

    18 Automatic Operation 18.2. Execution 1)Be sure that you are ready to press the [Emergency Stop] button of T/B in the case of any unexpected movement of the robot. 2)Run the program from the operation panel of the robot controller. Note) The robot of the specification without the operation panel of the controller operates by the external signal corresponding to the following step.

  • Page 97: Maintenance Of Robot Program

    19 Maintenance of robot program Maintenance of robot program This chapter explains information required when maintaining the sample programs (robot program language MELFA-BASIC V and dedicated input/output signals). 19.1. MELFA-BASIC V Instructions The lists of instructions, status variables and functions related to tracking operation are shown below. Please refer to the separate manual “Detailed Explanations of Functions and Operations”...

  • Page 98: List Of Functions

    19 Maintenance of robot program 19.1.3. List of Functions Table List of Functions 19−3 Result Function name Function Check whether the specified position is within the movement Integer Poscq(<position>) range. 1: Within the movement range 0: Outside the movement range TrWcur(<encoder number>, Obtain the current position of a workpiece.
  • Page 99 19 Maintenance of robot program TrBase (tracking base) [Function] Specify the workpiece coordinate system origin during the teaching operation and the encoder logic number of an external encoder used in tracking operation. [Format] TrBase  <Reference position data> [ , <Encoder logic number>] [Term] <Reference position data>...
  • Page 100 19 Maintenance of robot program TrClr (tracking data clear) [Function] Clears the tracking data buffer. [Format] TrClr  [<Buffer number>] [Term] <Buffer number> (cannot be omitted): Specify the number of a general-purpose output to be output. Setting range:1 to 4 (The first argument of parameter [TRBUF]) [Example] 1 TrClr 1 ' Clear tracking data buffer No.
  • Page 101 19 Maintenance of robot program Trk (tracking function) [Function] After Trk On is executed, the robot goes into the tracking mode and operates while following the conveyer operation until Trk Off is executed. [Format] Trk  On[,<Measurement position data>[,[<Encoder data>][,[<Reference position data>][,[<Encoder logic number>] ] ] ] ] Trk ...
  • Page 102 19 Maintenance of robot program TrOut (reading tracking output signal and encoder value) [Function] Read a tracking output value specified by a general-purpose output and read the value of an external encoder synchronously with the output. [Format] TrOut  <Output number>, <Encoder 1 value read variable> [ , [<Encoder 2 value read variable>] [ , [<Encoder 3 value read variable>] [ , [<Encoder 4 value read variable>] [ , [<Encoder 5 value read variable>] [ , [<Encoder 6 value read variable>] [ , [<Encoder 7 value read variable>] [ , [<Encoder 8 value read variable>] ]]]]]]]...
  • Page 103 19 Maintenance of robot program TrRd (reading tracking data) [Function] Read position data for tracking operation, encoder data and so on from the data buffer. [Format] TrRd  <Position data> [ , <Encoder data>] [ , [<Model number>] [ , [<Buffer number>] [ , <Encoder number>] ] ] ] [Term] <Position data>...
  • Page 104 19 Maintenance of robot program TrWrt (writing tracking data) [Function] Write position data for tracking operation, encoder data and so on in the data buffer. [Format] TrWrt  <Position data> [ , <Encoder data>] [ , [<Model number>] [ , [<Buffer number>] [ , <Encoder number>] ] ] ] [Term] <Position data>...
  • Page 105 19 Maintenance of robot program M_EncL (Latched Encoder data) [Function] At the instant of receipt of a TREN signal for Q17EDPX module, a stored encoder data is read. Also, 0 is written to clear the stored encoder data to zero. [Format] Example)<Numeric Variable>=M_EncL[(<logic encoder number>)] --------referencing...
  • Page 106 19 Maintenance of robot program • As encoder value is in double-precision real number, specify <numerical variable> with a variable which is of double-precision real-number type. • You can omit the step to specify <logic encoder number> . When it is omitted, logic encoder number will be treated as "1."...

  • Page 107: Timing Diagram Of Dedicated Input/Output Signals

    19 Maintenance of robot program 19.2. Timing Diagram of Dedicated Input/Output Signals 19.2.1. Robot Program Start Processing The signal timing when a robot program is started from an external device is shown below. Robot ① ② ③ ④ Turning servo ON (SRVON) Servo ON (SRVON)

  • Page 108: Troubleshooting

    20 Troubleshooting Troubleshooting This section explains causes of error occurrence and actions to be taken. 20.1. Occurrence of Error Numbers in the Range from 9000 to 9999 This section describes causes of errors that may occur while starting a program and how to handle them. Table List of Errors in Sample Programs 20−1...
  • Page 109 20 Troubleshooting (*1) About the factor that the L9110 error occurs Positional variable “PVTR" in ‘CM1’ program is calculated based on the setting of the A1-C1 program. The calculation result is a difference between the position of [+] mark set with the vision sensor and the position taught by the 'C1' program.

  • Page 110: Occurrence Of Other Errors

    20 Troubleshooting 20.2. Occurrence of Other Errors Table List of Tracking relation Errors 20−2 Error Error description Causes and actions number [Causes] L2500 Tracking encoder data error The data of the tracking encoder is abnormal. (The amount of the change is 1.9 times or more.) [Actions] 1) Check the conveyor rotates at the fixed velocity.
  • Page 111 20 Troubleshooting Error Error description Causes and actions number L3982 Cannot be used [Causes] (singular point) 1) This robot does not correspond to the singular point function 2) Cmp command is executed 3) A synchronous addition axis control is effective 4) Tracking mode is effective 5) Pre-fetch execution is effective 6) This robot is a setting of the multi mechanism...

  • Page 112: In Such A Case (Improvement Example)

    20 Troubleshooting 20.3. In such a case (improvement example) Explain the improvement example, when building the tracking system using the sample robot program. 20.3.1. The adsorption position shifts. When the place that shifts from the specified adsorption position has been adsorbed, the cause is investigated according to the following procedures.
  • Page 113 20 Troubleshooting 【confirmation 4】 Check the case where work at the center of view is recognized. Confirm of gap tendency The gap is The gap is constant. irregular. Do the work of the ‘A1’ Do the work of the ‘C1’ program again.
  • Page 114 20 Troubleshooting 【confirmation 3】 1) Stop the conveyer. 2) Put workpiece on the center of the vision view. 3) In In-Sight Explorer(EasyBuilder), click the “Set Up Image” from the “Application Steps”. Set "Calibration Type" displayed in the lower right of the screen to "Import". Specify the file that exported when the calibration is done to "File Name".

  • Page 115: Make Adsorption And Release Of The Work Speedy

    20 Troubleshooting 20.3.2. Make adsorption and release of the work speedy In the tracking system, adsorption confirmation of the work may be unnecessary. In that case, processing of adsorption and release can be made speedy by the following methods. （１）Adjust adsorption time and release time. Adjust the adjustment variable "PDLY1", and the value of X coordinates of "PDLY2"...

  • Page 116: Restore Backup Data To Another Controller

    20 Troubleshooting 20.3.5. Restore backup data to another controller The status variable "P_EncDlt" is not saved in the backup data from tracking system robot controller. To generate the value of "P_EncDlt", execute the "P_EncDlt(MENCNO) =PY10ENC" command of "Program A" by step forward. (Moving distance per one pulse) 20.3.6.

  • Page 117: Draw The Square While Doing The Tracking

    20 Troubleshooting 20.3.7. Draw the square while doing the tracking. Here, explain the example which draws the outline of the following square workpiece on the basis of the adsorption position. Position to follow（PA） Position of TrBase（P0） Position to follow（PC） Position to follow（PB） The robot traces the outline of workpiece clockwise based on the position specified that the following programs are executed by the TrBase instruction.

  • Page 118: Appendix

    21 Appendix Appendix This appendix provides a list of parameters related to tracking and describes Expansion serial interface connector pin assignment as well as sample programs for conveyer tracking and vision tracking. 21.1. List of Parameters Related to Tracking Table List of Parameters Related to Tracking 21−1 Setting value...
  • Page 119 21 Appendix Setting value Number Parameter Parameter Description at factory name elements shipment TRADJ1 8 real 0.00, 0.00, Tracking Tracking adjustment coefficient 1 0.00, 0.00, Set the amount of delay converted to the conveyer adjustment numbers 0.00, 0.00, (X,Y,Z, speed. Convert to 100 mm/s. coefficient 1 0.00, 0.00 A,B,C,...

  • Page 120: Shine Of Changing Parameter

    21 Appendix 21.2. Shine of changing parameter When the tracking function is used, the parameter need to be changed depens on operation phase. List of the parameter is shown as follow. List 21-2 List of the user shine of changing parameter Model Parameter CR750-Q...
  • Page 121 21 Appendix Model Parameter CR750-Q CR750-D Example Explanation Operation phase CR751-Q CR751-D name CRnQ-700 CRnD-700 In case of system In case of vision tracking, if debag there is a workpiece not recognized well by vision sensor, it might reply over one recognition results to one workpiece.
  • Page 122 21 Appendix Model Parameter CR750-Q CR750-D Example Explanation Operation phase name CR751-Q CR751-D CRnQ-700 CRnD-700 0,0,0,0, Others This parameter is a parameter ● ● ENCRGMN 0,0,0,0 that sets the range of the value 100000000, of state variable M_Enc. 100000000, M_Enc becomes the range of 100000000, 0-100000000, and next to 100000000,...

  • Page 123: Expansion Serial Interface Connector Pin Assignment

    21 Appendix 21.3. Expansion serial interface Connector Pin Assignment (CR750-D/CR751-D, CRnD-700 series controller) “Figure 21−1 Connector Arrangement” shows the connector arrangement and “Table 21−3 Connectors: CNENC/CNUSR Pin Assignment” shows pin assignment of each connector. CNUSR2（CR750-D/CR751-D） CNENC（CRnD-700） Encoder Encoder ｘ 2CH Connector: CNUSR2 CNUSR11/12/13（CR750-D）...
  • Page 124 21 Appendix Table Connectors: CNENC/CNUSR Pin Assignment 21−3 Pin NO. Connector name – Pin name Signal CRnD-700 Explanation Input/output Remark CR751-D CR750-D name controller (CNENC) controller controller CNUSR1-28 CNUSR11-6 Control power supply 0 V + terminal of differential encoder CNUSR1-21 CNUSR13-3 LAH1 Input...

  • Page 125: Chart Of Sample Program

    21 Appendix 21.4. Chart of sample program The chart of the sample program is shown below. 21.4.1. Conveyer tracking (1) A1.prg A1.prg Start out of Check Error output range (9101 ） encoder number inside of range Acquire encoder data (first time) Acquire the current position (first time) Acquire encoder data...
  • Page 126 21 Appendix (2) C1.prg C1.prg Start out of Check the Error output range ( 9102 ) model number inside of range out of Check the Error output range ( 9103 ) encorder number inside of range Ten time loop Clear the global variable data Acquire encoder data ( first time )
  • Page 127 21 Appendix (3) CM1.prg CM1.prg <Data acquisition> Start Start The data acquired with program A.prg and C.prg is acquired. Processing for acquiring required data Calculate the workpiece position (X,Y) when the sensor is activated Workpiece position writing <Data acquisition> processing CM1.prg <Position data writing>...
  • Page 128 21 Appendix (4) 1.prg <Initialization> <Origin return> 1.prg Start Start Start Set the acceleration Servo ON and deceleration to 100% Origin return Acquire the Set the ovrd to 100% current position Initialization Turning optimal acceleration/ Current height < deceleration ON Origin heighe Turning continuous movrment control OFF...
  • Page 129 21 Appendix <Tracked workpiece takeout> <Workpiece placing> Start Start Move to over the placement position If a workpiece exists Set the ACC and DCC Move to the Move to the escape position placement position Turn suction OFF Read data from the Set the ACC and DCC tracking buffer Move to over the...
  • Page 130 21 Appendix <Transportation data setting> Start Conveyer position pattern? right and left 2 Front 2 Front1 right and left 1 Set turning on interrupt Set turning on interrupt Set turning on interrupt Set turning on interrupt when the workpiece when the workpiece when the workpiece when the workpiece pass more than the...

  • Page 131: Vision Tracking

    21 Appendix 21.4.2. Vision Tracking (1) A1.prg The same program as the conveyer tracking. (2) B1.prg B1.prg Start out of Check the Error output range (910 ） encorder number inside of range Acquire encoder data (first time) Acquire encoder data (second time) Calculate the difference of the encoder value.
  • Page 132 21 Appendix (3) C.prg C1.prg Start Set information corresponding to the made vision program. Acquire the model number and the encoder number set by program C. Close communication line Open communication line and log on Execute the vision program and acquire data of one recognized workpiece Acquire the current...
  • Page 133 21 Appendix (4) CM1.prg CM1.prg <Opening communication> <Data acquisition> Start Start Start Acquire the data acquired Close communication line in program A, B, and C Data acquisition Open communication line <Data acquisition> and log on Vision sensor initialization Load the vision program <Condition setting>...
  • Page 134 21 Appendix <Vision sensor recognition check> Start Calculate the difference between last time and the current encoder value. Is the timing in which the image is acquired now? Imaging request + encoder value acquisition Is the vision sensor Error output (9100）...

  • Page 135: Sample Programs

    2 '# Program for calibration between tracking robot and conveyer 3 '# Program type : A1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION. 6 '################################################ 7 '(1) Register an encoder number to the X coordinate of the "PE" variable/...
  • Page 136 2 '# Conveyer tracking, workpiece suction position registration program 3 '# Program type : C1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION. 6 '#################################################### 7 '(1) Register a model number in the X coordinate of the "PRM1" variable/ 8 '(2) Register an encoder number in the Y coordinate of the "PRM1"...
  • Page 137 1 '### Ver.A3 ################################# 2 '# Conveyer tracking, robot operation program 3 '# Program type : 1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# MITSUBISHI ELECTRIC CORPORATION. 6 '############################################ 8 '### Main processing ### 9 *S00MAIN GoSub *S90HOME...
  • Page 138 21 Appendix MX50ED= PRNG.Y 'End distance of the range where the robot can follow a workpiece MX50PAT= PTN.X 'Conveyer position pattern number GoSub *S50WKPOS 'Workpiece position confirmation processing If MY50STS=3 Then GoTo *LBFCHK 'Already passed. Go to the next workpiece If MY50STS=2 Then GoTo *LTRST 'Operable: start tracking If MWAIT=1 Then GoTo *LNEXT...
  • Page 139 21 Appendix Accel 100,100 115 Return 116 ' 117 '### Transportation data setting processing ### 118 *S40DTSET PTBASE= P_100(PWK.X) 'Create reference position TrBase PTBASE,MBENCNO% 'Tracking base setting PGT= PTBASE*POFSET 'Suction position setting GoSub *S46ACSET 'Interrupt definition 123 Return 124 ' 125 '### Interrupt definition processing 1 ### 126 *S46ACSET Select PTN.X...
  • Page 140 21 Appendix MY50STS= 2 'Tracking possible Else 'If tracking not possible If PX50CUR.Y>0 Then MY50STS= 1 'Wait If PX50CUR.Y<0 Then MY50STS=3 'Move onto the next workpiece If PosCq(PX50CUR)=0 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then MY50STS=3 'Outside the movement range EndIf Break Case 3 'Left side rear ->...
  • Page 141 21 Appendix Mov P1 'Return to the origin once GoTo *LBFCHK 232 ' 233 '##### Suction of substrates ##### 234 *S85CLOSE HClose 1 'Turn suction ON 236 Return 237 '##### Suction/release of substrates ##### 238 *S86OPEN HOpen 1 'Turn suction OFF 240 Return 241 ' 242 '##### Turning on the signal is waited for #####...
  • Page 142 21 Appendix PWAIT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PUP1=(+50.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC1=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PTBASE=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PGT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC2=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PHND=(+0.00,+900.00,+900.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PDLY1=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC3=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC11=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PPT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PUP2=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC12=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PDLY2=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) PAC13=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) POFSET=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) P90CURR=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) P90ESC=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) P91P=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0) 21-132 Sample Programs...
  • Page 143 1 '## Ver.A3 #################################### 2 '# Conveyer tracking, sensor monitoring program 3 '# Program type : CM1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION. 6 '############################################## 8 '##### Main processing ##### 9 *S00MAIN...

  • Page 144: Vision Tracking

    ME1#=M_Enc(MENCNO) 'Acquire encoder data (first time) 15 '(4) Specify the mark in three points or more by using "Mitsubishi Robot Tool" on "In-Sight Explorer"/ 16 '(5) Move the calibration sheet until they are within the robot operation area/ 17 '(6) Move the robot hand to the position right at the center of mark 1/ 18 '(7) Acquire the robot present position by using "In-Sight Explorer"/...
  • Page 145 3 '# Program type : C1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION. 6 '#################################################### 7 '(1) Store a model number in the X coordinate of the "PRM1" variable/ 8 '(2) Store an encoder number in the Y coordinate of the "PRM1" variable/ 9 '(3) Check live images and register the length in the movement direction to the X coordinate of the "PRM2"...
  • Page 146 2 '# Conveyer tracking, communication processing between robot and vision sensor 3 '# Program type : VS communication program 4 '# Date of creation/version : 2012.07.31 A3 5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION. 6 '############################################## Dim MX(4),MY(4),MT(4),PVS(4) 'X/Y/C/buffer 9 '##### Main processing #####...
  • Page 147 21 Appendix sensor into the robot area PVTR=(P_Zero/PWKPOS)*PTEACH 'Vectors specifying the center of gravity of the vision sensor and grabbing position If PVTR.X<-PCHK.X Or PVTR.X>PCHK.X Then Error 9110 'The calculation result is greatly different from the theory value. If PVTR.Y<-PCHK.Y Or PVTR.Y>PCHK.Y Then Error 9110 56 Return 57 ' 58 '##### Condition setting #####...
  • Page 148 21 Appendix Break Case 2 TrWrt PRW, MTR2#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number Break Case 3 TrWrt PRW, MTR3#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number Break Case 4 TrWrt PRW, MTR4#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number Break Case 5...
  • Page 149 1 '### Ver.A3 ################################# 2 '# Conveyer tracking, robot operation program(for RH-3SDHR) 3 '# Program type : 1.prg 4 '# Date of creation/version : 2012.07.31 A3 5 '# MITSUBISHI ELECTRIC CORPORATION. 6 '############################################ 8 '### Main processing ### 9 *S00MAIN...
  • Page 150 21 Appendix GoTo *LBFCHK 56 '/// Workpiece data acquisition /// 57 *LREAD TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO% 'Read data from the tracking buffer GoSub *S40DTSET 'Transportation data setting 60 '/// Workpiece position confirmation /// 61 *LNEXT PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#) 'Acquire the current workpiece position MX50ST=PRNG.X 'Start distance of the range where the robot can follow a workpiece MX50ED=PRNG.Y...
  • Page 151 21 Appendix MX81SEC= PDLY2.X 'Check second number(s) GoSub *S81CWOFF 'Release confirmation Cnt 1 Accel PAC13.X,PAC13.Y Mov PPT,PUP2.Z Type 0,0 'Move to over the placement position Accel 100,100 122 Return 123 ' 124 '### Transportation data setting processing ### 125 *S40DTSET PTBASE= P_100(PWK.X) 'Create reference position TrBase PTBASE,MBENCNO%...
  • Page 152 21 Appendix as for workpiece. If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then 'case the singular point area If (PTRST.Y < -P3HR.Z And PTRED.Y < -P3HR.Z) Then MY50STS=2 'The position of the work peace is OK from the singular point if previous. If (PTRED.Y >...
  • Page 153 21 Appendix If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3 'If the tracking end position is singular point neighborhood, it is NG. If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3 'If the tracking start position is singular point neighborhood, it is NG. If (PTRST.X >...
  • Page 154 21 Appendix 283 ' 284 '### Tracking interruption processing ### 285 *S91STOP Act 1=0 Trk Off GoSub *S86OPEN 'Release suction P91P= P_Fbc(1) 'Acquire the current position P91P.Z=P1.Z Mvs P91P Type 0,0 'Raise Mov P1 'Return to the origin once GoTo *LBFCHK 294 ' 295 '##### Suction of substrates ##### 296 *S85CLOSE...
  • Page 155 21 Appendix PWK=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PRI=(+1.000,+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) P1=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PBPOS=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PX50CUR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PRNG=(+300.000,+200.000,+400.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PTN=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PWAIT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC1=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PTBASE=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PGT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC2=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PHND=(+0.000,+900.000,+900.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC3=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC11=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PPT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PUP2=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC12=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PDLY2=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PAC13=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) POFSET=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) P50FWCUR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PTRST=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) PTRED=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) P50TRST=(0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000)(0,0) P50TRED=(0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000)(0,0) P90CURR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) P90ESC=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) P91P=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0) Sample Programs 21-145...
  • Page 158 Feb.2014 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

This manual is also suitable for:

Crnq-700 seriesCr751-q seriesCrnd-700 seriesCr750-d seriesCr751-d series

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