Mitsubishi Electric CR750 Series Instruction Manual page 42

6 Parameter Setting
Parameter
Parameter
name
Tracking TRCWDST
Workpiece
judgment
distance
first Q173DPX ENCUNIT1
Second ENCUNIT2
Q173DPX
third Q173DPX ENCUNIT3
(*1) The example of a setting of a parameter EXTENC is shown as follow.
Hardware configuration
In CR750-D and a CR751-D controller, when using a common encoder cable, it is convenient to use CNUSR2
connector.
In this case, in order to connect with the channel 2 of an encoder, an encoder value will be checked using a
state variable "M_Enc (2)."
6-32 Tracking Parameter Setting
Number
of
elements
1 integer Distance to judge that the same workpiece is being
tracked (mm)
The sensor reacts many times when the workpiece
with the ruggedness passes the sensor. Then, the
robot controller judged that one workpiece is two or
more pieces.
The sensor between values [mm] set to this
parameter does not react after turning on the sensor.
2 The base unit-number of the first Q173DPX unit
integers (element 1) that robot CPU uses and slot number
(element 2) are set.
[Element 1]
-1 ：No connection
0 ：Basic base unit
1 - 7 ：Increase base unit
[Element 2]
0 - 11 ： I/O Slot number
2 The base unit-number of the second Q173DPX unit
integers (element 1) that robot CPU uses and slot number
(element 2) are set.
[Element 1]
-1 ：No connection
0 ：Basic base unit
1 - 7 ：Increase base unit
[Element 2]
0 - 11 ： I/O Slot number
2 The base unit-number of the third Q173DPX unit
integers (element 1) that robot CPU uses and slot number
(element 2) are set.
[Element 1]
-1 ：No connection
0 ：Basic base unit
1 - 7 ：Increase base unit
[Element 2]
0 - 11 ： I/O Slot number
Explanation
Value set at
factory
shipping
5.00
↓
Size of the
workpiece
[Q type]
-1,0
↓
Installation
place of
Q173DPX
[Q type]
-1,0
[Q type]
-1,0
5V power
supply