Specification; Tracking Specifications; D Type Or R Type - Mitsubishi Electric CR800 Series Instruction Manual

3. Specification

Tracking Specifications

3.1.
The table below shows the specifications of the high speed and accuracy tracking function and the circular arc
tracking function.
Please refer to "Standard Specifications Manual" for the specifications of the robot arm and controller to be
used.

D type or R type

3.1.1.
Item
Supported robots (*1)
Applicable robot controller
Conveyer Number of
conveyer
Movement
Speed (*2)
Encoder
Encoder cable
Encoder wiring
Photoelectronic Sensor (*4)
Precision at handling
position (*2)
Vision Sensor (*5)
(*1) The sample program doesn't correspond to the RV-5 axis robot.
(*2) The specification values in the table should only be considered guidelines. The actual values depend on
the specific operation environment, robot model, hand, Sensitivity of the sensor and other factors.
(*3) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
(*4) Please input the output signal of a photoelectric sensor into the SKIP input signal (any number) of the
robot controller.
(*5) Please connect the output signal of a breakout cable with SKIP input terminal of CNUSR12.
(*6) Read the separate "Collaborative Robot Safety Manual" thoroughly, conduct a system risk assessment
and devise safety measures beforehand.
Table 3-1 Specifications of the tracking function [D type or R type]
RH-FRH-D/R / RV-FR-D/R / RH-CRH-D series, RV-8CRL-D, RV-5AS-D (*6)
CR800-D/R series controller
Max 2pcs (in case 1pc encoder connect to 1 pc conveyer)
Encoder 2 pcs / system
Possible to support up to two conveyers by robot controller standard
constitution
Possible to support up to 300mm/s (When the robot always transport the
workpieces)
Possible to support up to 500mm/s when the interval of workpiece is wide.
Line driver output：
Resolution(pulse/rotation)： Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product： Omuron E6B2-CWZ1X-1000
Maximum response frequency： 100 kHz
Shielded twisted-pair cable
Outside dimension : Maximum phi6mm
Conductor size: 24AWG (0.2 mm
One robot controller can be connected to one encoder.
Up to eight robot controllers can be connected by using the Encoder
distribution unit. (Excluding the RV-5AS-D)
Used to detect workpieces positions in conveyer tracking.
Approximately ±1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy and
so on)
(High speed and accuracy tracking function)
The COGNEX's vision sensor is used.
The output signal of the sensor needs to be connected to the SKIP input
terminal of CNUSR12.
(Circular arc tracking function)
(Not supported)
Specification
(*3)
, A , A , B B
E6B2-CWZ1X-2000
) Cable length: Up to 25 m
2
3 Specification
Tracking Specifications 3-13