Confirmation After Operation; When Multiple Conveyers Are Used - Mitsubishi Electric CR800 Series Instruction Manual

10 Workpiece Recognition and Teaching ("C1" program)
(11) Press the [F1] (FWD) key and execute step feed. "(6)Move the robot to the suction position..."is displayed.
Move the robot to the position where it suctions the workpiece.
* With this operation, encoder data and robot position are acquired.
Area recognized by
a workpiece sensor
(12) Perform step operation until "End."
* With this operation, the robot is able to calculate the position of a workpiece as soon as the
sensor is activated.

Confirmation after operation

10.1.2.
Confirm the values of "M_101()," "P_100()" and "P_102()" using T/B.
Enter encoder numbers in array elements.
 "M_101()": Differences between the encoder values acquired at the position of the photoelectronic sensor
and the encoder values acquired on the robot side.
 "P_100()": Position at which workpieces are suctioned
 "P_102()": Values of the X coordinate = variable "MEncNo (encoder number)", Y coordinate = "MSenNo
(sensor number)"
Check that each of the values above has been entered correctly.

When multiple conveyers are used

10.1.3.
Carry out the same operations as above when multiple conveyers are used as well, but pay attention to the
following points.
Example) When using conveyer 2 (encoder number "2"), kind number "2",
(a) Copy the "C1" program, please create a "C2" program.
(b) Please change the kind number for variable "MWrkNo" in the "C2" program to "2".
(c) Please change the encoder number for variable "MEncNo" in the "C2" program to "2".
10-68 Conveyer Tracking
Move the hand
Robot movement range