[Contents]
1.
Overview....................................................................................................................................................... 1-1
1.1.
What is the Tracking Function?............................................................................................................ 1-1
1.2.
Applications .......................................................................................................................................... 1-2
2.
System Configuration ................................................................................................................................... 2-3
2.1.
Components ......................................................................................................................................... 2-3
2.1.1.
Configuration of the Expansion serial interface and Included Items ............................................. 2-3
2.1.2.
Devices Provided by Customers ................................................................................................... 2-3
2.2.
Example of System Configuration ........................................................................................................ 2-5
2.2.1.
Configuration Example of Conveyer Tracking Systems................................................................ 2-5
2.2.2.
Configuration Example of Vision Tracking Systems ..................................................................... 2-6
3.
Specification ................................................................................................................................................. 3-7
3.1.
Tracking Specifications......................................................................................................................... 3-7
4.
Operation Procedure .................................................................................................................................. 4-11
5.
Preparation and Connection of Equipment ................................................................................................ 5-12
5.1.
Preparation of Equipment ................................................................................................................... 5-12
5.2.
Connection of Equipment ................................................................................................................... 5-12
5.2.1.
Installation of Option Cards (Expansion serial interface/Ethernet Interface) .............................. 5-12
5.2.2.
Connection of Conveyer Encoder ............................................................................................... 5-14
5.2.3.
Connection of Photoelectronic Sensor........................................................................................ 5-15
6.
Parameter Setting ...................................................................................................................................... 6-16
6.1.
Dedicated Input/Output Parameters ................................................................................................... 6-16
6.2.
Operation Parameters ........................................................................................................................ 6-16
6.3.
Tracking Parameter Setting................................................................................................................ 6-17
7.
Sample Robot Programs............................................................................................................................ 7-18
8.
Calibration of Conveyer and Robot Coordinate Systems (“A” program) .................................................... 8-19
9.
Calibration of Vision Coordinate and Robot Coordinate Systems (“B” program) ....................................... 9-22
10.
Workpiece Recognition and Teaching (“C” program) .......................................................................... 10-25
10.1.
Program for Conveyer Tracking.................................................................................................... 10-25
10.2.
Program for Vision Tracking ......................................................................................................... 10-27
11.
Teaching and Setting of Adjustment Variables (“1” Program).............................................................. 11-31
12.
Sensor Monitoring Program (“CM1” Program) ..................................................................................... 12-35
12.1.
Program for Conveyer Tracking.................................................................................................... 12-35
12.2.
Program for Vision Tracking ......................................................................................................... 12-35
13.
Automatic Operation............................................................................................................................. 13-36
14.
Maintenance ......................................................................................................................................... 14-38
14.1.
MELFA-BASIC IV Instructions ...................................................................................................... 14-38
14.1.1.
List of Instructions ..................................................................................................................... 14-38
14.1.2.
List of Status Variables ............................................................................................................. 14-38
14.1.3.
List of Functions ........................................................................................................................ 14-39
14.1.4.
Explanation of Tracking Operation Instructions ........................................................................ 14-39
14.2.
Timing Diagram of Dedicated Input/Output Signals...................................................................... 14-46
14.2.1.
Robot Program Start Processing .............................................................................................. 14-46
15.
Troubleshooting.................................................................................................................................... 15-47
15.1.
Occurrence of Error Numbers in the Range from 9000 to 9999................................................... 15-47
15.2.
Occurrence of Other Errors .......................................................................................................... 15-48
16.
Appendix............................................................................................................................................... 16-49
16.1.
List of Parameters Related to Tracking ........................................................................................ 16-49
16.2.
Expansion serial interface Connector Pin Assignment ................................................................. 16-50
16.3.
Chart of sample program .............................................................................................................. 16-51
16.3.1.
Conveyer tracking ..................................................................................................................... 16-51
16.3.2.
Vision Tracking.......................................................................................................................... 16-57
16.4.
Sample Programs ......................................................................................................................... 16-61
16.4.1.
Conveyer Tracking .................................................................................................................... 16-61
16.4.2.
Vision Tracking.......................................................................................................................... 16-69
