Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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3 Specification
3-14 Tracking Specifications
3.1.2.
Q type
Table 3-2 Specifications of the tracking function [Q type]
(*1) The sample program doesn't correspond to the RV- 5 axis robot.
( *2 ) The encoder connected with the t hird channel of the Q173DPX unit specified for parameter "ENCUNIT3"
cannot be used.
(*3) The specification values in the table should only be considered guidelines. The actual values depend on the
specific operation environment, robot model, hand, Sensitivity of the sensor and other factors.
(*4) Voltage output/open collector type is an output circuit with two output transistors of NPN and PNP.
( *5 ) The line driver output is a data transmission circuit in accordance with RS- 422A. It enables the
long-distance transmission.
( *6 ) Please connect the output signal of a photoelectric sensor with the terminal TREN of the Q173DPX unit.
This input can be confirmed
，
by the input signal 810th - 817th.
(*7) Please connect the output signal of a breakout cable with SKIP input terminal of CNUSR12.
Item Specification
Supported robots (* 1 ) RH-FRH-Q series / RV-FR-Q series
Applicable robot controller CR800-Q series controller
Conveyer Number of
conveyer
(*2)
Max 8pcs (in case 1pc encoder connect to 1 pc conveyer)
Encoder 3 pcs / Q173DPX unit 1pc
Q173DPX unit 3pcs / system
Movement
Speed
（
*3
）
Possible to support up to 3 00mm/s (When the robot always transport the
workpieces)
Possible to support up to 500mm/s when the interval of workpiece is wide.
Encoder Voltage output/open collector type
：
Z B A
、 、
(*4)
Line driver output
：
Z Z B B A A
、 、 、 、 、
( *5 )
Resolution(pulse/rotation)
：
Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product
：
Omuron E6B2 - CWZ1X - 1000
E6B2 - CWZ1X - 2000
Encoder cable 2D - CBL05(External I/O cable 5m)
2D - CBL15(External I/O cable 15m)
Encoder unit Only Q173DPX unit
Photoelectronic
Sensor (*6)
Used to detect workpieces positions in conveyer tracking.
Output signal of sensor need to be connected to TREN terminal of Q173DPX
unit. (Input signal number 810 to 817)
And a momentary encoder value that the input enters is preserved in state
variable "M_EncL".
Preci sion at handling
position
（
*3
）
Approximately
±
1 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, robot repeatability accuracy
and so on)
Vision Sensor(*7) (High speed and accuracy tracking function)
The COGNEX's vision sensor is used.
The output signal of the sensor needs to be connected to the SKIP input
terminal of CNUSR 12.
(Circular arc tracking function)
(Not supported)