Adjusting The Operating Conditions Of Variables - Mitsubishi Electric CR800 Series Instruction Manual

11 Teaching and Setting of Adjustment Variables ("1" program)

Adjusting the operating conditions of variables

11.2.
The following section explains how to set adjustment variables, which are required at transportation, and details
about their setting.
Please refer to separate manual "Detailed Explanations of Functions and Operations" for how to set adjustment
variables.
Variable
name
PUp1 When the adsorption operation of workpiece, set the
offset in the z-axis that the robot works.
Offset is the amount of elevation (mm) from the
position where workpiece is adsorbed.
[*]Since this variable shows the distance in a tool
coordinate system, the sign changes depending
on a robot model.
PUp2 When the desorption operation of workpiece, set the
offset in the z-axis that the robot works.
Offset is the amount of elevation (mm) from the
position where workpiece is desorbed.
[*]Since this variable shows the distance in a tool
coordinate system, the sign changes depending
on a robot model.
PDly1 Set the suction time.
X = Suction time (s).
PDly2 Set the release time.
X = Release time (s).
PPri "1" program and "CM1" program are run
simultaneously (multitasking). "1" program moves the
robot, and "CM1" program observes the sensor.
It is possible to specify which program is processed
with a higher priority, rather than performing the
same amount of processing at the same time.
X = Set the line numbers of "1" program to be
Y = Set the line numbers of "CM1" program to be
performed
POffset When the adsorption position shifts, the gap can be
corrected. Set the correction value.
[*]The direction of the correction is a direction of
the hand coordinate system. Please decide the
correction value after changing the job mode to
"Tool", pushing the [+X] key and the [+Y] key,
and confirming the operation of the robot.
PRng Set the range of motion where the robot judges
workpiece to be able to follow, and the forced ending
distance. (When the workpiece is in the tracking
possible area, the tracking is started. But if the robot
speed is low, and the conveyer speed is high, the
robot follows the workpiece to out of the robot
operation area.)
X = The start distance of the range in which the
Y = The end distance of the range in which the
robot can follow a workpiece :(mm)
Z = The distance in which follow is canceled.
11-84 Adjusting the operating conditions of variables
Table 11-1 List of adjustment variables in the program
Explanation
performed (1 to 31).
(1 to 31).
robot can follow a workpiece :(mm)
Setting Example
When you raise the workpiece 50mm
from the adsorption position:
(Example) RV series:
(X,Y,Z,A,B,C)=(+0,+0,-50,+0,+0,+0)
(Example) Other than RV series:
(X,Y,Z,A,B,C)=(+0,+0,+50,+0,+0,+0)
When you raise the workpiece 70mm
from the desorption position:
(Example) RV series:
(X,Y,Z,A,B,C)=(+0, +0,-70,+0,+0,+0)
(Example) Other than RV series:
(X,Y,Z,A,B,C)=(+0,+0,+70,+0,+0,+0)
When you set the suction time to 0.5
second:
(X,Y,Z,A,B,C)=(+0.5,+0,+0,+0,+0,+0)
When you set the release time to 0.3
second:
(X,Y,Z,A,B,C)=(+0.3,+0,+0,+0,+0,+0)
When you set to run "1" program by
one line and run "CM1" program by 10
lines:
(X,Y,Z,A,B,C)=(+1,+10,+0,+0,+0,+0)
When the deviation to +X direction
in hand-coordinate system is 2mm,
and deviation to -Y direction in
hand-coordinate system is 1mm:
(X,Y,Z,A,B,C)=(+2,-1,+0,+0,+0,+0)
Refer to "Figure 11-1 Diagram of the
adjustment variables "PRNG" in the
Program".