Workpiece Recognition And Teaching ("C1" Program); Conveyer Tracking; Operation Procedure - Mitsubishi Electric CR800 Series Instruction Manual

10. Workpiece Recognition and Teaching ("C1" program)

* The tasks described in this chapter are required for both conveyer tracking and vision tracking in high
speed and accuracy tracking, but different operations are performed. Refer to "10.1 Conveyer
Tracking" for operations in the case of conveyer tracking and "10.2 Vision Tracking" for operations in
the case of vision tracking.
* Refer to "12 Teaching Operation ("A1" Program)" for circular arc tracking.
This chapter explains the tasks carried out by using "C1" program.
Please refer to "Detailed Explanations of Functions and Operations" for the steps involved in each operation.

Conveyer Tracking

10.1.
In "C1" program for conveyer tracking, encoder data at the positions where a sensor is activated and where the
robot suctions a workpiece is acquired so that the robot can recognize the workpiece coordinates when the
sensor is activated at later times.
The operation procedure and items to be confirmed after operation in "C1" program for conveyer tracking are
explained below.

Operation procedure

10.1.1.
Using "C1" program, operate in the following procedures.
(1) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
T/B
T/B rear
(2) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen
will appear.
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RH-3FRH5515-D
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ELECTRIC CORPORATION ALL RIGHTS
RESERVED
(3) Select "1. FILE /EDIT" screen on the <MENU > screen.
<MENU>
1.FILE/EDIT
3.PARAM
5.SET/INIT
○ ○
123
(4) Press the arrow key, combine the cursor with the program name "C1" and press the [EXE] key. Display the
<program edit> screen.
<FILE/EDIT>
A1 18-02-20 17:06:39 12345
B1 18-02-20 17:06:39 12345
C1 18-02-20 17:06:39 12345
EDIT
POSI
123
↑Up: DISABLE
↓Down: ENABLE
Lamp lighting
★
Ver. A0
2.RUN
4.ORIGIN/BRK
○ CLOSE
NEW COPY
10 Workpiece Recognition and Teaching ("C1" program)
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○ ○
○
123
<FILE/EDIT>
A1 18-02-20 17:06:39 12345
B1 18-02-20 17:06:39 12345
C1 18-02-20 17:06:39 12345
EDIT
POSI NEW
123
<PROGRAM> C1
1 '###############################
2 '# Conveyer tracking, workpiece
3 '# Program type : C1.prg
4 '# Date of creation : 2018.02.14
EDIT POSI NEW
123
CLOSE
COPY
COPY
Conveyer Tracking 10-65