Mitsubishi Electric CR750-D Series Instruction Manual page 122

12 Appendix
No. Operation phase
In case of system
debag
5
In case of system
debug
6
7
12-112 Scene of changing parameter
Model
CR750-Q CR750-D
CR751-Q CR751-D
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● ●
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Parameter
Example
name
TRCWDST 20.0
+0.00,
+4.00,
+0.00,
+0.00,
TRADJ1 +0.00,
+0.00,
+0.00,
+0.00,
+0.00
TRBUF 3, 100
Explanation
In case of vision tracking, if
there is a workpiece not
recognized well by vision
sensor, it might reply over
one recognition results to one
workpiece. In this case, it
makes possible to get only
one recognition result
excluding the results with the
distance which is shorter than
the distance set by this
parameter. For example, it is
recognized that 3 vision
sensors exist for 1
workpieces. This one
workpiece is got and another
2 workpieces are not got
because the distance of
result is shorter than it set
20mm.
It is possible to adjust the gap
by using this parameter when
this gap is caused every time
in the same direction when
the tracking operates.
For example, the speed of
conveyer is 50mm/s and
there is +2mm gap (＋Y
direction) +2mm,
Set value = 4.0 (2 / 50 *
100 )
+4.0 is set to the second
element that shows Y
coordinates.
When three kinds of
workpieces flow respectively
on the three conveyers for
one robot controller, three
tracking buffers where
workpiece information is
preserved are needed. In this
case, the first element of this
parameter is changed to
three.
Moreover, when TrWrt
command is frequently
executed and TrRd command
is slow, workpiece information
collects in the tracking buffer.
Because the error occurs
when 64 workpieces
information or more on an
initial value collects, it is
necessary to increase the
number in which work
information is preserved.
Then, the second element of
this parameter is changed to
100.