Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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14 Sensor Monitoring Program (“CM1” program)
High speed and accuracy tracking system (for conveyer tracking) 14-115
14.
Sensor Monitoring Program (“CM1” program)
This chapter provides an overview of “CM1” program, which is run in parallel, when “1” program is run.
Processing of "CM1" programs varies depending on the function. It is explained as follows.
14.1.
High speed and accuracy tracking system (for conveyer tracking)
“CM1” program calculates the workpiece coordinates in the robot coordinate system at the moment where a
photoelect ronic sensor is activated based on the following data acquired with “A1” program and “C1” program,
and then stores the coordinates in the tracking buffer(Storage area to preserve data temporarily).
<Acquired data>

Amount of robot movement per encoder pul se (P_EncDlt ( 1 ))

Difference between the encoder value when a photoelectronic sensor is activated and the encoder value
when teaching is performed on a robot

Position at which the robot is taught to grab a workpiece
14.2.
High speed and accuracy tracking system (for vision tracking)
“CM1” program converts the workpiece position recognized by the vision sensor to the corresponding
coordinates in the robot coordinate system based on the following data acquired with “A1” program, “B1”
program and “C1” program, and then stores the coordinates in the tracking buffer.
<Acquired data>

Amount of robot movement per encoder pulse(P_EncDlt ( 1 ))

Difference between the encoder value when a marking sticker is on the vision sensor side and the encoder
value when the marking sticker is on the robot side

Workpiece position recognized by the vision sensor

Difference between the encoder value when the vision sensor recognizes a workpiece and the encoder value
when teaching on the workpiece position was performed on the robot

Position at which the robot is taught to grab a workpiece
The timing at which the vision sensor acquires images is calculated such that images of the same workpiece are
taken at least once or up to twice by the following data specified in “C1” program.
<D ata specified in “C1” program>

Field of view in the conveyer movement direction

Length of workpieces detected by a vision sensor (length in the conveyer movement direction)
14.3.
Circular arc tracking system (for conveyer tracking)
"CM1" program calculates the workpiece coordinates in the robot coordinate system at the moment where a
photoelectronic sensor is activated based on the following data acquired with the "A1" program, and then stores
the coordinates in the tracking buffer (storage area to preserve data temporarily).
<Acquired data>

Amount of robot hand movement per encoder pulse (P_EncDlt ( 1 ))

Differences between the encoder value when a photoelectronic sensor is activated and the encoder value
when robot teaching is performed

Position where the r obot is taught to grab a workpiece