Parameter Setting; Tracking Parameter Setting; Robot Cpu Parameter Setting - Mitsubishi Electric CR800 Series Instruction Manual

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" for how to set the parameters.

Tracking Parameter Setting

6.1.
Specify to which channel of the encoder connector an encoder of conveyer is connected.
The parameter settings for the robot CPU and PLC CPU are shown below. Make the settings as required.

Robot CPU parameter setting

6.1.1.
After the installation of Q173DPX module and connection with the encoder are complete, use the following steps to
establish robot CPU parameters.
[D type or R type]
(1) Set a parameter TRMODE to 1, validate a function of tracking.
(2) Specify the channel to which the encoder is connected using a parameter EXTENC.
(3) Reset a power supply and reflect a parameter.
Parameter
Parameter
name
Tracking mode TRMODE
Encoder EXTENC
number
allocation
Tracking TRCWDST
Workpiece
judgment
distance
Table 6-1 Tracking Parameter Setting [D type or R type]
Number
of
elements
1 integer Enable the tracking function
Please set it to "1" when you use the tracking
function.
0: Disable/1: Enable
8 Set connection destinations on the connector for
integers encoder numbers 1 to 8.
Parameter elements correspond to encoder number
1, encoder number 2 ... encoder number 8 of a state
variable "M_Enc" from the left.
Setting value is input encoder physics number from
below list.
Encoder
physics number
In the initial setting, the value of the encoder which is
wired to the channel 1 of the encoder input connector
can be checked with the status variables "M_Enc
(1)", "M_Enc (3)", "M_Enc (5)", and "M_Enc (7)". The
value of the encoder which is wired to the channel 2
can be checked with the status variables "M_Enc
(2)", "M_Enc (4)", "M_Enc (6)", and "M_Enc (8)".
Please refer to "15.1.2 List of Robot Status Variables"
for the explanation of state variable "M_Enc".
Please refer to "Detailed Explanations of Functions
and Operations" for how to check the status variable.
1 integer Distance to judge that the same workpiece is being
tracked (mm)
The sensor reacts many times when the workpiece
with the ruggedness passes the sensor. Then, the
robot controller judged that one workpiece is two or
more pieces.
The sensor between values [mm] set to this
parameter does not react after turning on the sensor.
Explanation
Connection channel
1 Standard CH1
2 Standard CH2
6 Parameter Setting
Value set at
factory
shipping
0 → 1
1,2,1,2,1,2,1,2
↓
Change the
set value
according to
the situation.
5.00
↓
Size of the
workpiece
Tracking Parameter Setting 6-33