Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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13 Setting of an operating condition and operations check (“1“Program)
13-106 Variable for operating conditions
13.
Setting of an operating condition and operations check (“1“Program)
* The tasks described in this chapter are required for circular arc tracking (conveyer tracking).
* Refer to "8 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)" for high speed
and accuracy tracking.
This chapter explains operations required to run “1” program.
In addition, this chapter explains a method to check the operation in the condition that it was designated, and to
coordinate again.
13.1.
Variable for operating conditions
The variable indicated below is used for designation of an operating condition of a robot.
Please refer to “Detailed Explanations of Functions and Operations” for how to set th e variable.
Table 13-1 List of variable for operating conditions
Variable
name
Explanation
Setting Example
PUp1 In movement to adsorb workpiece, appoint quantity of
offset to the sky position.
* * F F o o r r t t h h i i s s v v a a r r i i a a b b l l e e t t o o b b e e c c a a l l c c u u l l a a t t e e d d r r e e l l a a t t i i v v e e l l y y t t o o t t h h e e
a a d d h h e e s s i i o o n n l l o o c c a a t t i i o o n n , , i i t t ' ' s s n n e e c c e e s s s s a a r r y y t t o o p p a a y y a a t t t t e e n n t t i i o o n n
t
t
o
o
a
a
s
s
i
i
g
g
n
n
a
a
c
c
c
c
o
o
r
r
d
d
i
i
n
n
g
g
t
t
o
o
t
t
h
h
e
e
m
m
o
o
d
d
e
e
l
l
o
o
f
f
t
t
h
h
e
e
r
r
o
o
b
b
o
o
t
t
.
.
If you want to rise 30mm from
position to adsorb the work
(Example) RV series
(X,Y,Z,A,B,C)=
(+0, +0,-30,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+30,+0,+0,+0)
PUp2 In movement to desorb workpiece, appoint quantity of
offset to the sky position.
*
*
F
F
o
o
r
r
t
t
h
h
i
i
s
s
v
v
a
a
r
r
i
i
a
a
b
b
l
l
e
e
t
t
o
o
b
b
e
e
c
c
a
a
l
l
c
c
u
u
l
l
a
a
t
t
e
e
d
d
r
r
e
e
l
l
a
a
t
t
i
i
v
v
e
e
l
l
y
y
t
t
o
o
t
t
h
h
e
e
a
a
d
d
h
h
e
e
s
s
i
i
o
o
n
n
l
l
o
o
c
c
a
a
t
t
i
i
o
o
n
n
,
,
i
i
t
t
'
'
s
s
n
n
e
e
c
c
e
e
s
s
s
s
a
a
r
r
y
y
t
t
o
o
p
p
a
a
y
y
a
a
t
t
t
t
e
e
n
n
t
t
i
i
o
o
n
n
t t o o a a s s i i g g n n a a c c c c o o r r d d i i n n g g t t o o t t h h e e m m o o d d e e l l o o f f t t h h e e r r o o b b o o t t . .
If you want to rise 5 0mm from
position to desorb the work
(Example) RV series
(X,Y,Z,A,B,C)=
(+0, +0,- 50,+0,+0,+0)
(Example) Other than RV series
(X,Y,Z,A,B,C)=
(+0,+0,+50,+0,+0,+0)
PDly1 Specify the adsorption time (s). Specify the adsorption time to 1
second:
(X,Y,Z,A,B,C)= (+1,+0,+0,+0,+0,+0)
PDly2 Specify the desorption time (s). Specify the desorption time to 1
second:
(X,Y,Z,A,B,C)=
(+0.5,+0,+0,+0,+0,+0)
PPri When you start the "1" program, in slot 2 of a
multi-task, " CM1" program is executed.
"1" monitors the operation of the robot, "CM1"
monitors the sensor.
You can specify whether to prioritize either of
processing.
X coordinate
＝
The number of execution line of
the "1"program (1 - 31)
Y coordinate
＝
The number of execution line of
the "CM1" program (1 - 31)
While execute 1 line of "CM1",
execute 3 lines of "1".
(X,Y,Z,A,B,C)=
(+3,+1,+0,+0,+0,+0)