Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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6 Parameter Setting
6-34 Tracking Parameter Setting
[Q type]
(1) Set a parameter TRMODE to 1, vali date a function of tracking.
(2) Specify the channel to which the encoder is connected using a parameter EXTENC.
(3) In the case of Q type, Using parameter ENCUNT* (*=1 to 3), designate the slot in which Q173DPX module
under the control of robot CPU is ins talled.
(4) Reset a power supply and reflect a parameter.
Table 6-2 Tracking Parameter Setting [Q type]
Parameter
Parameter
name
Number
of
elements
Explanation
Value set at
factory
shipping
Tracking mode TRM ODE 1 integer Enable the tracking function
Please set it to “1" when you use the tracking
function.
0: Disable/1: Enable
0 → 1
Encoder
number
allocation
EXTENC 8
integers
Set connection destinations on the connector for
encoder numbers 1 to 8.
Parameter elements correspond to encoder number
1, encoder number 2 … encoder number 8 of a state
variable "M_Enc" from the left.
Setting value is input encoder physics number from below
list.
Encoder
physics
number
Connection channel
1
Parameter
ENCUNIT1
1st chann el
2 2nd channel
3 3rd channel
4
Parameter
ENCUNIT2
1st channel
5 2nd channel
6 3rd channel
7
Parameter
ENCUNIT3
1st channel
8 2nd channel
In the initial setting, the value of the encoder
connected to the Q173DPX unit 1 to 3 can be
checked wit h the status variables "M_Enc(1) to
M_Enc(8)".
Please refer to "13.1.2 List of Robot Status Variables ”
for the explanation of state variable “M_Enc".
Please refer to “Detailed Explanations of Functions
and Operations” for how to check the status variable.
1,2,3,4,5,6,7,8
↓
Change the
set value
according to
the situation.
Tracking
Workpiece
judgment
distance
TRCWDST 1 integer Distance to judge that the same workpiece is being
tracked (mm)
The sensor reacts many times when the workpiece
with the ruggedness passes the sensor. Then, the
robot controller judged that one workpiece is two or
more pieces.
The sensor between values [mm] set to this
parameter does not react after turning on the sensor.
5.00
↓
Size of the
workpiece
first Q173DPX ENCUNIT1 2
integers
The base unit- number of the first Q173DPX unit
(element 1) that robot CPU uses and slot number
(element 2) are set.
[Element 1]
- 1
：
No connection
0
：
Basic base unit
1 - 7
：
Increase base unit
[Element 2]
0 - 11
：
I/O Slot number
- 1,0
↓
Installation
place of
Q173DPX