Mitsubishi Electric CR800 Series Instruction Manual page 187

correct.
(example)
(+0, +0) is displayed as a recognition result when assuming that the robot coordinates are set as
follows when the calibration is done by using the calibration seat, and using a ○ sign in four
corners.
(the first point xy) (the second point xy)(the third point xy)(the fourth point xy)
5) Arrange workpieces on four corners.
6) Confirm whether the workpieces put on four corners of the image is recognized similar and
correctly.
The recognition result becomes (+100,+100), (+100,-100), (-100,+100), and (-100,-100).
[Confirmation 4]
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) Change X coordinates of PDly1 in '1' program to a big value like the "10" second etc.
4) Start '1' program, and start the conveyer in low-speed.
5) Stop the conveyer because it keeps following during the "10" second in the place where the robot
moved to the adsorption position. And, stop '1' program.
6) Confirm whether the position in which the robot adsorbs workpiece is correct.
7) Confirm the tendency to a positional gap repeating this work several times.
[Confirmation 5]
1) Stop the conveyer.
2) Start the '1' program, and start the conveyer in the speed that you want.
3) Flow workpiece.
4) Stop the conveyer because it keeps following during the "10" second in the place where the robot
moved to the adsorption position. And, stop '1' program.
5) Confirm the position in which the robot adsorbs workpiece.
<The position shifts in shape to adsorb the rear side of work >
Please adjust the encoder value specified by the TrWrt command as < delay time > "0".
For instance, the 'CM1' program is changed as follows and the numerical value (for instance,
following "500") is adjusted.
MENCDATA#=MTR1#+500
TrWrt PRW, MENCDATA#, MWKNO,1,MENCNO
[Confirmation 6]
1) Change parameter "TRADJ1", and adjust a positional gap.
[Confirmation 7]
1) Change robot status variable "P_TrkPAcl" and "P_TrkPDcl" to make the follow speed of the
tracking fast.
Note it though the load factor of each axis of the robot goes up.
Confirm the state of the load of each axis by "Load factor monitor" of RT ToolBox3.
The adsorption position shifts (circular arc tracking)
16.3.
When the place that shifts from the specified adsorption position has been adsorbed, the cause is
investigated according to the following procedures.
(1) Please confirm turntable and the encoder is not slipping.
(2) Please confirm whether a difference in the adhesion locations is fixed or different depending on the timing
from which a workpiece is taken.
It's to (3) in case of a fixed difference. When being different depending on timing, it's to (4).
= (+100,+100), (+100,-100), (-100,+100), and (-100,-100)
The adsorption position shifts (circular arc tracking) 16-175
16 In such a case (improvement example)