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

10 Workpiece Recognition and Teaching ("C1" program)

Confirmation after operation

10.2.3.
Check the values of the following variables using T/B.
Enter the model number for the array number.
 Value of "M_101()":
 Value of "P_100()":
 Value of "P_101()":
 Value of "P_102()":
 Value of "P_103()":
 Value of "C_100$()": COM number
 Value of "C_101$()": Vision program name
Confirm that each of the above values is entered.

When multiple conveyers are used

10.2.4.
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".
10-82 Vision Tracking
Differences between encoder values when a workpiece is within the vision sensor area
and when the workpiece is on the robot side
Position at which workpieces are suctioned
Position at which workpieces are recognized by vision sensor
Values of the X coordinate = variable "MEncNo (encoder number)", Y coordinate =
"MSkipNo (SKIP input number)"
Values of the X coordinate = variable "MVsLen (recognition field of image view)", Y
coordinate = "MWrkLen (workpiece size)"