Mitsubishi Electric CR800 Series Instruction Manual page 10
For industrial robot
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Also See for CR800 Series:
- Special specifications manual (156 pages) ,
- Ethernet function instruction manual (146 pages) ,
- Instruction manual (146 pages)
Table of Contents
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9.1.
Operation procedure ........................................................................................................................................................................................ 9-57
9.2.
Confirmation after operation ........................................................................................................................................................................ 9-64
9.3.
When multiple conveyers are used ............................................................................................................................................................ 9-64
10.
Workpiece Recognition and Teaching ("C1" program) .......................................................................................................................... 10-65
10.1.
Conveyer Tracking .................................................................................................................................................................................... 10-65
10.1.1.
Operation procedure ...................................................................................................................................................................... 10-65
10.1.2.
Confirmation after operation ...................................................................................................................................................... 10-68
10.1.3.
When multiple conveyers are used .......................................................................................................................................... 10-68
10.2.
Vision Tracking ........................................................................................................................................................................................... 10-69
10.2.1.
Tasks .................................................................................................................................................................................................... 10-69
10.2.2.
Operation procedure ...................................................................................................................................................................... 10-77
10.2.3.
Confirmation after operation ...................................................................................................................................................... 10-82
10.2.4.
When multiple conveyers are used .......................................................................................................................................... 10-82
11.
Teaching and Setting of Adjustment Variables ("1" program) .......................................................................................................... 11-83
11.1.
Teaching ........................................................................................................................................................................................................ 11-83
11.2.
Adjusting the operating conditions of variables ............................................................................................................................ 11-84
11.3.
Automatic Operation................................................................................................................................................................................ 11-86
11.4.
Adjustment of operating conditions ................................................................................................................................................... 11-87
11.5.
Adjustment of Tracking starting possible area ............................................................................................................................. 11-89
11.6.
Occurrence of error ................................................................................................................................................................................. 11-91
12.
Teaching of the Circular Arc Tracking ("A1" Program) ....................................................................................................................... 12-92
12.1.
Preliminary preparations ........................................................................................................................................................................ 12-92
12.1.1.
Setting of tool length ..................................................................................................................................................................... 12-92
12.1.2.
Confirm the encoder value.......................................................................................................................................................... 12-93
12.1.3.
Knowledge about work .................................................................................................................................................................. 12-95
12.2.
Operation procedure ................................................................................................................................................................................ 12-96
12.3.
What to confirm........................................................................................................................................................................................ 12-104
12.4.
When multiple conveyers and turntables are used ................................................................................................................... 12-105
13.
13.1.
Variable for operating conditions ...................................................................................................................................................... 13-106
13.2.
Automatic operation............................................................................................................................................................................... 13-107
13.3.
Adjustment of the follow position ..................................................................................................................................................... 13-108
13.4.
Adjustment of operating conditions ................................................................................................................................................. 13-110
13.5.
Adjustment of Tracking starting possible area ........................................................................................................................... 13-112
13.6.
Occurrence of error ............................................................................................................................................................................... 13-114
14.
Sensor Monitoring Program ("CM1" program) ....................................................................................................................................... 14-115
14.1.
High speed and accuracy tracking system (for conveyer tracking) ................................................................................... 14-115
14.2.
High speed and accuracy tracking system (for vision tracking) .......................................................................................... 14-115
14.3.
Circular arc tracking system (for conveyer tracking) .............................................................................................................. 14-115
15.
Maintenance of robot program ..................................................................................................................................................................... 15-116
15.1.
MELFA-BASIC V or MELFA-BASIC VI instruction ................................................................................................................. 15-116
15.1.1.
List of Instructions ....................................................................................................................................................................... 15-116
15.1.2.
List of Robot Status Variables ................................................................................................................................................ 15-117
15.1.3.
Explanation of Tracking Operation instructions ............................................................................................................... 15-119
15.2.
Timing Diagram of Dedicated Input/Output Signals ................................................................................................................. 15-170
15.2.1.
Robot Program Start Processing ........................................................................................................................................... 15-170
16.
In such a case (improvement example) .................................................................................................................................................... 16-171
16.1.
The adsorption position shifts (high speed and accuracy tracking system (conveyer tracking)) .......................... 16-171
16.2.
The adsorption position shifts (high speed and accuracy tracking system (vision tracking)) ................................. 16-173
16.3.
The adsorption position shifts (circular arc tracking) .............................................................................................................. 16-175
16.4.
Make adsorption and release of the work speedy ..................................................................................................................... 16-176
16.5.
Make movement of the robot speedy ............................................................................................................................................. 16-176
16.6.
Restore backup data to another controller .................................................................................................................................. 16-176
16.7.
Circular arc movement in Tracking.................................................................................................................................................. 16-177
16.8.
Draw the square while doing the Tracking .................................................................................................................................... 16-178
17.
Troubleshooting .................................................................................................................................................................................................. 17-179
17.1.
Occurrence of errors of Tracking and Vision Sensor .............................................................................................................. 17-179
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