9 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
Operation procedure 9-59
(4)
Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen
will appear.
(5)
Select "1. FILE /EDIT" screen on the <MENU > screen.
(6)
Press the arrow key, combine the cursor with the program name "B1" and press the [EXE] key. Display the
<program edit> screen.
(7)
Press the [FUNCTION] key, and change the function display
(8)
Press the [F1] (FWD) key and execute
step feed. “
(1)
Input an encoder …
“is displayed
. E
xecute work
according to the comment in the robot program.
Specify the encoder number.
If you want to change the
encoder number, please edit the program as follows.
(a) Display the following command.
MELFA CR8xx-D Ver. A1
RH-3FRH5515-D
COPYRIGHT (C) 2017 MITSUBISHI
ELECTRIC CORPORATION ALL RIGHTS
RESERVED
<MENU>
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1.FILE/EDIT 2.RUN
CLOSE
○
○
○
123
<FILE/EDIT>
A1 18-02-20 17:06:39 12345
B1 18-02-20 17:06:39 12345
C1 18-02-20 17:06:39 12345
COPY
EDIT
POSI
NEW
123
<MENU>
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1.FILE/EDIT 2.RUN
CLOSE
○
○
○
123
<PROGRAM> B1
4 '# Date of creation : 2018.02.14
5 '# COPYRIGHT : MITSUBISHI ELECTR
6 '###############################
7 '(1)Input an encoder number to the
BWD
FWD
JUMP
123
<PROGRAM> B1
1 '###############################
2 '# Network vision tracking, calib
3 '# Program type : B1.prg
4 '# Date of creation : 2018.02.14
COPY
EDIT
POSI
NEW
123
<PROGRAM> B1
1 '##############################
2 '# Network vision tracking, calib
3 '# Program type : B1.prg
4 '# Date of creation : 2018.02.14
TEACH
EDIT DELETE
INSERT
123
<FILE/EDIT>
A1 18-02-20 17:06:39 12345
B1 18-02-20 17:06:39 12345
C1 18-02-20 17:06:39 12345
COPY
EDIT
POSI
NEW
123
<PROGRAM> B1
1 '###############################
2 '# Network vision tracking, calib
3 '# Program type : B1.prg
4 '# Date of creation : 2018.02.14
COPY
EDIT
POSI
NEW
123
<PROGRAM> B1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6'################################
7 '(1)Input an encoder number to th
8 MEncNo = 1 ' Set an enc
TEACH
EDIT DELETE
INSERT
123
Summary of Contents for CR800 Series
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Page 12: ......
Page 202: ...18 Appendix 18 190 Calibration sheet ...
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