Mitsubishi Electric CR800 Series, Instruction Manual

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7 Installation of a sample robot program
7-48 Dedicated Input/Output Parameters
7.
Installation of a sample robot program
This chapter explains the structure of the sample robot programs.
Sample robot programs are categorized into two types: for high speed and accuracy tracking and circular arc
tracking. For high speed and accuracy tracking, programs for conveyer tracking and vision tracking are
provided.
Their program structures are shown in “Table 7- 1 High Speed and Accuracy Tracking (Conveyer Tracking) ” ,
“Table 7- 2 High Speed and Accuracy Tracking (Vision Tracking) ” , and “Table 7-3 Circular Arc Tracking
(Conveyer Tracking) ” respectively.
Refer to “RT ToolBox3 Robot Total Engineering Support Software Instruction Manual” for how to install
programs to the robot controller.
Table 7-1 High Speed and Accuracy Tracking (Conveyer Tracking)
Program name Description Explanation
A1
Conveyer - robot coordinate
system calibration program
This program matches the coordinate systems of the conveyer and
robot and calculates the amount of robot movement per encoder pulse.
C1
Workpiece coordinate system -
robot coordinate system
matching program
This program calculates the coordinates at which the robot grabs a
workpiece based on the coordinates at which a sensor is activated.
1
Operation program
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
CM1
Workpiece coordinate monitor
program
This program monitors encoder values and stores workpiece
coordinates.
Table 7-2 High Speed and Accuracy Tracking (Vision Tracking)
Program name Description Explanation
A1
Conveyer - robot coordinate
system calibration program
This program matches the coordinate systems of the conveyer and
robot and calculates the amount of robot movement per encoder pulse.
B1
Vision coordinate system –
robot coordinate system
calibration program
This program matches the vision coordinate system and the robot
coordinate system.
C1
Workpiece coordinate system -
robot coordinate system
matching program
This program calculates the coordinates at which the robot grabs a
workpiece based on the coordinates at which a vision sensor has
detected the workpiece.
1
Operation program
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
CM1
Workpiece coordinate monitor
program
This program monitors encoder values and stores workpiece
coordinates.
Table 7-3 Circular Arc Tracking (Conveyer Tracking)
Program name Description Explanation
A1
Setting program
This program synchronizes the coordinate system of the robot with the
conveyer on the arc such as turntable and teaches the location
necessary to conveyance.
1 Operation program
The recognized workpiece is followed and transported.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
CM1
Workpiece coordinate monitor
program
This program monitors encoder values and stores workpiece
coordinates.
Refer to "8 Calibration of Conveyer and Robot Coordinate Systems (“A1” program) " for high speed and accuracy
tracking, and " 12 Teaching Operation (“A1” Program) " for circular arc tracking.