Mitsubishi MELFA 4D-2CG5100-PKG-E Instruction Manual page 11

6. VISION SENSOR SETTINGS .................................................................................................................... 6-29
Vision Sensor Initial Settings ...................................................................................................... 6-29
6.1.
Work recognition test .................................................................................................................. 6-32
6.2.
Starting MELFA-Vision (network vision sensor support software) ............................................... 6-32
6.2.1.
Image adjustment......................................................................................................................... 6-37
6.2.2.
Image processing settings ........................................................................................................... 6-40
6.2.3.
7. ROBOT CONTROLLER SETTINGS ......................................................................................................... 7-53
Robot Controller Parameter Settings.......................................................................................... 7-53
7.1.
Calibration Setting ....................................................................................................................... 7-58
7.2.
Robot Program Writing................................................................................................................ 7-69
7.3.
Flow for starting of image processing by robot ............................................................................ 7-69
7.3.1.
Writing a Sample Robot Program ................................................................................................ 7-69
7.3.2.
Executing the automatic operation test...................................................................................... 7-71
7.4.
Put the vision sensor online. ........................................................................................................ 7-71
7.4.1.
Test by executing each step......................................................................................................... 7-71
7.4.2.
Starting a Robot Program ............................................................................................................ 7-72
7.4.3.
When the robot can not grasp the work normally ...................................................................... 7-74
7.5.
Check the MELFA-Vision [Camera Image]. ................................................................................. 7-74
7.5.1.
Comparison of the position data for the work recognized by the vision sensor and the position data
7.5.2.
received by the robot...................................................................................................................................... 7-74
8. MAINTENANCE ......................................................................................................................................... 8-76
Vision Sensor Data Backup ......................................................................................................... 8-76
8.1.
Vision Sensor Data Restoration .................................................................................................. 8-78
8.2.
Vision Sensor Cloning ................................................................................................................. 8-81
8.3.
Image Log Acquisition Settings and Reception Start/End ......................................................... 8-83
8.4.
Vision Startup Settings ................................................................................................................ 8-84
8.5.
User List Settings ........................................................................................................................ 8-85
8.6.
9. DETAILED EXPLANATION OF FUNCTIONS ........................................................................................... 9-87
Vision Sensor Dedicated Commands and Status Variables....................................................... 9-87
9.1.
How to Read Items....................................................................................................................... 9-87
9.1.1.
MELFA-BASIC IV Commands ..................................................................................................... 9-87
9.1.2.
Robot status variables................................................................................................................ 9-104
9.1.3.
MELFA-Vision Function Details..................................................................................................9-112
9.2.
MELFA-Vision Main Screen ........................................................................................................9-112
9.2.1.
Job Editing screen ([Image Log] tab) ..........................................................................................9-113
9.2.2.
Job edit screen ([Result Cell Position] tab) .................................................................................9-114
9.2.3.
Vision sensor network settings ...................................................................................................9-115
9.2.4.
Vision program detailed explanation .........................................................................................9-116
9.3.