Mitsubishi Electric CR800 Series, Instruction Manual

Page: 183 / 204

16 In such a case (improvement example)
The adsorption position shifts (high speed and accuracy tracking system (conveyer tracking)) 16-171
16.
In such a case (improvement example)
Explain the improvement example, when building the tracking system using the sample robot program.
16.1.
The adsorption position shifts (high speed and accuracy tracking system
(conveyer tracking))
When the place that shifts from the specified adsorption position has been adsorbed, the cause is
investigated according to the following procedures.
Start
Check the
position gap
【
confirmation 1
】
Confirm whether neither the
encoder nor the conveyer slip.
Check the slip of
encoder
【
confirmation 2
】
Confirm whether the gap is
constant
Confirm of gap
tendency
【
confirmation 3
】
Check the timing which the sensor
is ON
The position
shifts.
The position
doesn
’
t shift
Adjustment
completion
Fix the encoder
Slip
Not slip
The gap is
irregular by the
timing
The gap is
constant
The gap is
irregular
Do the work of the
‘
A 1
’
program again
Do the work of the
‘
C 1
’
program again
Check the shifts
【
confirmation 4
】
Adjustment by parameter
“
TRADJ 1
”
Start
The gap is
constant
Adjustment
completion
The position
doesn
’
t shift
Start
Check the shifts
【
confirmation 5
】
Adjustment by status variables
“
P _ TrkPAcl
”
and
“
P _ TrkPDcl
”
Adjustment
completion
End
The gap is
constant
The position
doesn
’
t shift
Check the timing
Adjust the sensitivity of the
sensor
Correct
Not correct