Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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8 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
Preliminary Preparaions 8-49
8.
Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
* The tasks described in this chapter are required for high speed and accuracy tracking (conveyer
tracking and vision tracking).
* Refer to "12 Teaching Operation (“A1” Program)" for circular arc tracking.
This chapter explains the tasks carried out by using “A1” program.
Calibration of a conveyer refers to determining the movement direction of the conveyer in the robot coordinate
system and the amount of movement of the robot per encoder pulse. This amount of movement is stored in the
robot’s status variable “P_EncDlt.”
“A1” Program performs specified tasks and automatically calculates the amount of movement of the robot per
encoder pulse mentioned above.
The procedures of operations specified by “A1” program and items to be confirmed after the operations are
explained below.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation.
Please monitor status variable “M_Enc(1)" to “M_Enc(8)" before it works, rotate the encoder, and confirm the
value changes.
8.1.
Preliminary Preparaions
This chapter explains the knowledge about confirmation and operation necessary to a minimum before
beginning work.
The contents which should be checked are "Tool length" and "change in the encoder value".
8.1.1.
Setting of tool length
When you'd like to change the angle at the place which isn't a flange part of a robot (For example, tip of a
hand), you have to set tool length.
The "tool length automatic measuring system" function of RT ToolBox3 is useful when setting tool length.
Refer to “RT ToolBox3 Robot Total Engineering Support Software Instruction Manual” about ope rational
details.
When the robot model and robot controller which have connected, correspond to this function, a [Tool
automatic calculation] is displayed under [Maintenance] in the project tree. Double-click [Online] ->
[Maintenance] -> [Tool automatic calculation] in the project tree.