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9 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)

9-62 Operation procedure

3) Click the [Add] button to display nine candidate points on the screen.

4) Select the target candidate points in order, and click the [OK] button.

The setting screen for calibration is displayed.

The example of specifying

these four points is shown.

Содержание CR800 Series

Страница 1: ...CR800 series controller Tracking Function Instruction Manual Mitsubishi Electric Industrial Robot BFP A3520 B ...

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Страница 3: ...ng work This also applies to maintenance work with the power source turned ON Setting of emergency stop switch CAUTION During teaching work place a sign indicating that teaching work is in progress on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress DANGER Provide a fence or enclosure during operation to prevent cont...

Страница 4: ...o not apply excessive force on the connector or excessively bend the cable Failure to observe this could lead to contact defects or wire breakage CAUTION Make sure that the workpiece weight including the hand does not exceed the rated load or tolerable torque Exceeding these values could lead to alarms or faults WARNING Securely install the hand and tool and securely grasp the workpiece Failure to...

Страница 5: ...rogram parameter writing could break the internal information of the robot controller DANGER Do not connect the Handy GOT when using the GOT direct connection function of this product Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not DANGER Do not connect the...

Страница 6: ...e wiring setup is completed CAUTION Use the network equipments personal computer USB hub LAN hub etc confirmed by manufacturer The thing unsuitable for the FA environment related with conformity temperature or noise exists in the equipments connected to USB When using network equipment measures against the noise such as measures against EMI and the addition of the ferrite core may be necessary Ple...

Страница 7: ...print Specifications No Details of revisions 2017 05 30 BFP A3520 First print 2018 02 01 BFP A3520 A The CR800 Q controller was added 2020 04 10 BFP A3520 B Added information for the RV 8CRL D Added information for the RV 5AS D ...

Страница 8: ...Please avoid handling the equipment in any way not described in this manual The circular arc tracking function does not support vision tracking No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The contents of this manual are subject to change without notice An effort has been made to make full descriptions in this manual However if any disc...

Страница 9: ...D type or R type 5 23 5 1 1 Connection with encoder for conveyer and encoder cable 5 23 5 1 2 Installation of encoder cable 5 25 5 1 3 Connection of Photoelectronic Sensor 5 26 5 1 4 Connection of Vision Sensor 5 26 5 2 Connection of Equipment Q type 5 27 5 2 1 Connection of Unit 5 27 5 2 2 Connection with encoder for conveyer and encoder cable 5 27 5 2 3 Connection of Photoelectronic Sensor 5 29 ...

Страница 10: ...ration 13 107 13 3 Adjustment of the follow position 13 108 13 4 Adjustment of operating conditions 13 110 13 5 Adjustment of Tracking starting possible area 13 112 13 6 Occurrence of error 13 114 14 Sensor Monitoring Program CM1 program 14 115 14 1 High speed and accuracy tracking system for conveyer tracking 14 115 14 2 High speed and accuracy tracking system for vision tracking 14 115 14 3 Circ...

Страница 11: ...s Related to Tracking 18 184 18 2 List of Parameters Related to Vision Sensor 18 186 18 3 Scene of changing parameter 18 187 18 4 Expansion serial interface connector pin assignment CR800 series controller 18 188 18 5 Calibration sheet 18 189 ...

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Страница 13: ...ible to follow workpieces that are not in a line moving on a conveyer while working on them even in the case of different types of workpieces vision tracking combined with vision sensors 3 It is possible to follow changes of movement speed due to automatic calculation of conveyer movement speed 4 It increases in the conveyance ability about 15 The ratio of our company compared with the conventiona...

Страница 14: ...ssing the workpieces moving on a conveyer while tracking 4 A robot attaches the parts assembling with the workpieces moving on a conveyer while tracking 5 A robot has the vision sensor hand eye and it checks the workpieces moving on a conveyer inspection It also can check and push the button while tracking not the vision sensor 6 When a robot picks the workpieces moving on a conveyer A the trackin...

Страница 15: ... up workpieces moving on a conveyer A vision camera detects workpieces moving on a conveyer and robots transport and line up them on pallets without having to stop the conveyer Tracking on conveyers Robots transport and line up workpieces moving on a conveyer on pallets moving on another conveyer without having to stop the conveyers ...

Страница 16: ...tracking 3 A robot can attach the parts assembling with the workpieces moving on a circular arc conveyer while tracking 4 A robot can catch the workpieces moving on a circular arc conveyer while tracking and a robot places the workpieces while tracking to marking on a straight line conveyer 5 The tracking is done with an encoder of line driver differential motion output type 6 Note1 The tracking i...

Страница 17: ... achieve 1 5 A advantage using the circular arc tracking function is shown as following Point The area of the system can be done small by a turntable Before In case of a straight conveyer After In case of a circular arc conveyer ...

Страница 18: ...1 Overview 1 6 System that can achieve Point Tracking distance becomes long robot can do much work Before In case of a straight conveyer After In case of a circular arc conveyer ...

Страница 19: ...s possible to transport process workpieces Conveyer tracking The conveyer tracking allows a robot to follow workpieces lining up on a conveyer With this function it becomes possible to transport process workpieces Vision tracking The vision tracking allows a robot to follow workpieces not lining up on a conveyer With this function it becomes possible to transport line up and process workpieces Phy...

Страница 20: ...kpieces are gripped correctly Provide as necessary Solenoid valve set See the Remark column 1 Different models are used depending on the robot used Check the robot version and provide as necessary Hand input cable Calibration jig 1 This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks It is recommended to use the jig if high pre...

Страница 21: ...to connect two or more robot controllers D type or R type or the manual pulser input unit Q type to one encoder Prepare this unit as necessary If the Encoder distribution unit is used a 5V power source for the encoder is not necessary Refer to the Encoder Distribution Unit Manual BFP A3300 for details Vision sensor 1 COGNEX Vision sensor Lens 1 C mount lens Breakout cable 1 This cable is used by h...

Страница 22: ...n Example of Conveyer Tracking Systems The following figure shows a configuration xample of a system that recognizes lined up workpieces on a conveyer passing a photo electronic sensor and follows the workpieces D type or R type Figure 2 1 Configuration Example of Conveyer Tracking Systems D type or R type Q type Figure 2 2 Configuration Example of Conveyer Tracking Systems Q type ...

Страница 23: ...shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces D type or R type Figure 2 3 Configuration Example of Vision Tracking Systems D type or R type Q type Figure 2 4 Configuration Example of Vision Tracking Systems Q type ...

Страница 24: ...f a system that recognizes lined up workpieces on a circular arc conveyer passing a photoelectronic sensor and follows the workpieces D type or R type Figure 2 5 System configuration example of the circular arc tracking function conveyer tracking D type or R type Q type Figure 2 6 System configuration example of the circular arc tracking function conveyer tracking Q type ...

Страница 25: ...2 Cable length Up to 25 m Encoder wiring One robot controller can be connected to one encoder Up to eight robot controllers can be connected by using the Encoder distribution unit Excluding the RV 5AS D Photoelectronic Sensor 4 Used to detect workpieces positions in conveyer tracking Precision at handling position 2 Approximately 1 mm when the conveyer speed is approximately 300 mm s Photoelectron...

Страница 26: ... 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 300mm 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 rot...

Страница 27: ...ulser input unit specification Add Q173DPX unit into PLC base unit Q3 DB when the customer use Q type high speed and accuracy tracking function Please refer to Q173DCPU Q172DCPU user s manual about details of this unit 1 External and name of Q173DPX unit Figure3 1 Externals of Q173DPX unit ...

Страница 28: ...3 Specification 3 16 Q173DPX manual pulser input unit specification 2 Dip switch By setting the dip switch the condition of the tracking enable signal is decided Table3 3 Item of dip switch ...

Страница 29: ...3 Specification Q173DPX manual pulser input unit specification 3 17 3 Specification of hardware 7 1ms ...

Страница 30: ...pecification 3 18 Q173DPX manual pulser input unit specification 4 Wiring The pin layout of the Q173DPX PULSER connecter viewed from the unit is shown below Figure3 2 Pin assignment of the PULSER connector ...

Страница 31: ...ferential output type Incremental synchronous encoder Figure3 3 Wiring connection with rotary encoder As above image because DC5V voltage is output from Q173DPX unit it makes possible to supply 5V from Q173DPX unit to rotary encoder When 24V encoder type of power supply is used it makes possible to use 24V output from PLC power unit ...

Страница 32: ...remental synchronous encoder 3pcs Tracking input points 3points Three points can be input to TREN1 3 in the pin assignment of the unit When the input of a photoelectric sensor is put this input is used Slot that can be connected Connection with the base unit Possible to install I O slot since 3 Impossible to install CPU slot or I O slot 0 to 2 Connection with additional base unit Possible to insta...

Страница 33: ...oordinate Systems A1 program Refer to Chapter 8 Chapter 8 explains how to calculate the amount of robot movement per encoder pulse 5 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program Refer to Chapter 9 Chapter 9 explains how to display the position of a workpiece recognized by the vision sensor in the robot coordinate system Only Vision Tracking 6 Workpiece Recognition and T...

Страница 34: ...to Chapter 6 Chapter 6 explains assignment of signals for external equipment to control a robot and parameter about the tracking and parameter about movement such as the length of the tool 3 Installation of a sample robot program Refer to Chapter 7 Chapter 7 explains functions related to sample programs 4 Teaching Operation A1 Program Refer to Chapter 12 Chapter 8 explains work procedure to appoin...

Страница 35: ...ow 5 1 1 Connection with encoder for conveyer and encoder cable E6B2 CWZ1X made by Omron is used and the wiring for the encoder and the encoder cable for the conveyer is shown in Figure 5 2 The a maximum of two encoders for the conveyors are connectable as standard specification A total of 8 signal wires are required for the connection for the power supply and terminals and the and terminals of th...

Страница 36: ...lease note that the connector shape is different depending on the controller Figure 5 1 Wiring example from an encoder to a robot D type or R type Figure 5 2 The encoder and the wiring diagram of the encoder cable D type or R type Refer to Table 18 4 Connectors CNENC CNUSR Pin Assignment with pin assignment of connector ...

Страница 37: ... installation method of the encoder cable is shown in Figure 5 3 And the description about the measures against the noise is shown in the figure 5 3 Measures against the noize Figure 5 3 Installation of encoder cable D type or R type Within 300mm CNUSR12 connector Encoder cable Ferrite core attachment Pass twice ...

Страница 38: ...nic Sensor Connection Example SKIP input 2 is used D type or R type 5 1 4 Connection of Vision Sensor This section explains connection of vision sensor of when the high speed and accuracy tracking function is used with vision tracking If a vision sensor is used for detection of workpieces connect HS OUT 0 and GROUND Micro series HS COMMON of the vision sensor to SKIP input terminal of CNUSR12 conn...

Страница 39: ...ncoder and the encoder cable for the conveyer is shown in Figure5 2 The encoder for the conveyer and the wiring diagram of the encoder cable Q type The encoder for the conveyer up to 3 pcs can be connected per Q173DP unit 1pc The signal cables needed in case of the connection are power supply and encoder A B Z each total 8 cables Please refer to the manual of the encoder please connect signal cabl...

Страница 40: ...Red A19 SG B19 SG A18 HPSEL1 B18 5V A17 HA1P B17 HA1N A16 HB1P B16 HB1N A14 SG B14 SG A13 HPSEL2 B13 5V A12 HA2P B12 HA2N A11 HB2P B11 HB2N A4 TREN1 B4 TREN1 A3 TREN2 B3 TREN2 Pin assignment of the PULSER connector Blue 0V Brown 5V Black Black Red stripe White White Red Blue 0V Brown 5V Twisted pair cable Twisted pair cable SLD SLD External power supply 24V 0V 24V 0V Photoelectric sensor Example o...

Страница 41: ...ample 6th General Input Signal is Used Q type The tracking enable signal is connected to the robot input signal as follows Table5 1 List with signal crack of tracking enable signal TREN Q type Encoder physics number Connection channel Q type Robot Input signal number 1 1st channel of Parameter ENCUNIT1 810 2 2nd channel 811 3 3rd channel 812 4 1st channel of Parameter ENCUNIT2 813 5 2nd channel 81...

Страница 42: ...e pins of the CNUSR12 connector are assigned as follows SKIP2 corresponds to the pin numbers 3 and 12 SKIP3 corresponds to the pin numbers 2 and 11 and SKIP 4 corresponds to the pin numbers 1 and 10 In this section a connection example to SKIP2 3 12 is shown in Figure 5 5 Vision Sensor Connection Example SKIP 2 Input Signal is Used D type or R type Colors in shows the wire colors corresponding to ...

Страница 43: ...he turntable with the short radius there is a possibility that the tracking precision becomes bad by the case that the direction of rotation of the table and the direction of rotation of the encoder aren t identical Figure 5 10 Installation example of the encoder when the tracking precision becomes bad Please install an encoder as follows in this case Figure 5 11 Measure example of encoder install...

Страница 44: ...e filter recommendation MXB 1210 33 Densei Lambda in the AC input side cable of the power supply for the encoders 2 Please insert the ferrite core recommendation E04SR301334 SEIWA ELECTRIC MFG in the DC output side cable of the power supply for the encoders 3 Please connect the power supply case for the encoders to the installation operator control panel connect the earth wire to grounding or the ...

Страница 45: ... 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 ...

Страница 46: ...channel 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 with 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 ...

Страница 47: ...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 Third Q173DPX ENCUNIT3 2 integers The base unit number of the third 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 ...

Страница 48: ...g the encoder value When the encoder value is showed by variable monitor of Program monitor the encoder value changes as follows In this way in the case of connection to channel 2 the encoder data is stored in M_Enc 2 It is useful to change parameter EXTENC when confirming the encoder value by using M_Enc 1 and encoder value 1 ...

Страница 49: ...r Setting 6 37 Common control for M_Enc 1 by the parameter EXTENC Change the first element of a parameter EXTENC into 2 from 1 If you reset a power supply and reflect the parameter value the encoder value is displayed in M_Enc 1 as follows ...

Страница 50: ...assignment Select I O units and or Intelligent units c Control PLC setting Set the CPU Unit numbers which control the Q173DPX unit The setting procedure of the parameter is as below GX Works2 is used as an example GX Works3 and GX Developer can be used as well The following explanation assumes the case that attached Q173DPX unit to the fifth slot of baseboard 1 Execute the GX Works2 and select the...

Страница 51: ...r Setting 6 39 3 Double click the Multiple CPU Setting 4 Set the number of CPU and this system area size K Points 5 Double click the I O assignment 6 When Q173DPX unit is attached to fifth slot change the type of slot 5 to the Intelligent ...

Страница 52: ...etailed Setting button 8 Because the robot CPU manages the Q173DPX unit change the Control PLC of slot 5 to the PLC No 2 Robot CPU 9 Click the END button The Parameters are memorized into the sequencer CPU 10 A power supply of a sequencer is reset 11 Close GX Works2 ...

Страница 53: ...robot CPUs one Q173DPX and one encoder You will be able to understand some parameters ENCUNIT and EXTENC Conditions An encoder is connected to the channel 3 Robot CPU1 and 2 use the parameter ENCUNIT1 and robot CPU3 uses the parameter ENCUNIT2 Hardware configuration Parameter setting of the robot 1 Display the list of parameters of three robots CPU In the case of connecting to channel 3 ...

Страница 54: ...ing 2 In the setting of robot CPU1 and robot CPU2 specify the value of the parameter ENCUNIT1 to 0 4 3 In the setting of robot CPU3 specify the value of the parameter ENCUNIT2 to 0 4 4 In the setting of each robot CPU 1 3 change parameter TRMODE to 1 ...

Страница 55: ...U1 controlling Q173DPX unit Change Control PLC columns to PLC No 2 in slot 4 0 4 rows of No 5 Reset the power supply of sequencer and the robot controller after the setting was changed Monitoring the encoder value When the encoder value is showed by variable monitor of Program monitor the encoder value changes as follows ...

Страница 56: ...n M_Enc 3 The data of robot CPU3 is stored in M_Enc 6 because parameter ENCUNIT2 is specified It is useful to change parameter EXTENC when confirming the encoder value by using M_Enc 1 and encoder value 1 Common control to M_Enc 1 by parameter EXTENC In the setting of the robot CPU1 and CPU2 change the first element of a parameter EXTENC into 3 from 1 ...

Страница 57: ...Parameter Setting 6 45 In the setting of the robot CPU3 changes the first element of a parameter EXTENC into 6 from 1 If you reset a power supply and reflect the parameter value the encoder value is displayed in M_Enc 1 as follows ...

Страница 58: ...DAT1 Specify hand weight and so on to make settings that allow optimal acceleration deceleration operations For example if the hand weighs 3 kg changing the weight setting value from 10 kg to 3 kg makes the robot movement faster Hand weight kg size mm X Y Z gravity mm X Y Z 3 0 0 0 0 0 0 The setting values are different for each robot model Use these values as reference only Optimal acceleration d...

Страница 59: ...ed status 10011 1 1 1 Error reset error occurring ERRRESET Input Cancel error status Output Output error status 10009 1 2 1 Start operating START Input Start automatic operation Output Output program running status 10006 1 3 1 Servo ON turning servo ON SRVON Input Turn the servo on Output Output servo on status 10010 0 4 0 Operation right operation right enabled IOENA Input Enable disable operatio...

Страница 60: ...nd stores workpiece coordinates Table 7 2 High Speed and Accuracy Tracking Vision Tracking Program name Description Explanation A1 Conveyer robot coordinate system calibration program This program matches the coordinate systems of the conveyer and robot and calculates the amount of robot movement per encoder pulse B1 Vision coordinate system robot coordinate system calibration program This program...

Страница 61: ...ons 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...

Страница 62: ...cation of 3 8 points as follows in the screen mentioned above 8 1 2 Confirm the encoder value An important one is a change in the encoder value in this work Confirm whether a robot controller grasps the turn of the encoder From the project tree click the target project Online Monitor Movement Monitor Program Monitor then double click the Task slot to monitor ...

Страница 63: ... display variables screen Input M_Enc 1 to a space variable name and click a OK button also input M_Enc 2 M_Enc 8 equally and click a OK button Confirm that the value of M_Enc changes by a revolution of a conveyer When the encoder value doesn t change confirm the parameter setting and the wiring of 6 1 Tracking Parameter Setting ...

Страница 64: ...D Ver A1 RH 3FHR5515 D COPYRIGHT C 2017 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED MENU 3 PARAM 4 ORIGIN BRK 5 SET INIT 1 FILE EDIT 2 RUN CLOSE 123 PROGRAM A1 1 2 Program for calibration between 3 Program Type A1 prg 4 Date of creation version 201 TEACH EDIT DELETE INSERT 123 PROGRAM A1 1 2 Program for calibration between 3 Program Type A1 prg 4 Date of creation version 201 BWD FWD JUMP 1...

Страница 65: ...the variable MEncNo Example When 2 is specified as the encoder number c Press the F1 FWD key and the change is determined PROGRAM A1 4 Date of creation version 201 5 COPYRIGHT MITSUBISHI ELECTRIC 6 7 1 Input an encoder number to th BWD FWD JUMP 123 PROGRAM A1 Edit 8 MEncNo 1 TEACH EDIT DELETE INSERT 123 PROGRAM A1 5 COPYRIGHT MITSUBISHI ELECTRIC 6 7 1 Input an encoder number to th 8 MEncNo 1 Set a...

Страница 66: ... stop it when the marking sticker comes within the robot movement range Figure 8 1 Position of Marking Sticker on Conveyer 8 Press F1 FWD key and execute step feed 3 Move the robot to the po is displayed Move the robot to the position right at the center of the marking sticker on the conveyer With this operation encoder data and robot position are acquired Sensor recognition area Robot movement ar...

Страница 67: ... immediately outside the robot movement range Sensor recognition area Robot movement area Move the sticker 11 Press F1 FWD key and execute step feed 6 Move the robot to the posi is displayed Move the robot to the position right above the center of the marking sticker on the moved conveyer With this operation encoder data and robot position are acquired Sensor recognition area Robot movement area M...

Страница 68: ...ulse Example If 0 5 is displayed for the Y coordinate only This means that if the conveyer moves for 100 pulses the workpiece moves 50 mm 0 5 x 100 50 in the Y direction in the robot coordinate system When backing up the data of P_EncDlt is not backed up Please work referring to 16 6 Restore backup data to another controller when you restore data to another tracking system 8 4 When multiple convey...

Страница 69: ...B1 program performs specified tasks and allows acquiring the workpiece coordinates recognized by the vision sensor in the robot coordinate system position coordinates of robot movement The procedures of operations specified by B1 program and items to be confirmed after the operations are explained below This chapter explains on the assumption that Mitsubishi robot tool is used Please refer to Deta...

Страница 70: ...n to write the parameter to the controller 2 Set OPT12 for COM2 in the Device Line field Double click OPT12 in Device list to display the Device parameter setting screen Select Network Vision Sensor 2D from Autoconfigration input IP address of the vision sensor to IP address and select COM2 from Allocation column Click OK button And click Write button on Ethernet parameter screen Turn on robot con...

Страница 71: ...HTS RESERVED MENU 3 PARAM 4 ORIGIN BRK 5 SET INIT 1 FILE EDIT 2 RUN CLOSE 123 FILE EDIT A1 18 02 20 17 06 39 12345 B1 18 02 20 17 06 39 12345 C1 18 02 20 17 06 39 12345 COPY EDIT POSI NEW 123 MENU 3 PARAM 4 ORIGIN BRK 5 SET INIT 1 FILE EDIT 2 RUN CLOSE 123 PROGRAM B1 4 Date of creation 2018 02 14 5 COPYRIGHT MITSUBISHI ELECTR 6 7 1 Input an encoder number to the BWD FWD JUMP 123 PROGRAM B1 1 2 Net...

Страница 72: ...to 18 5 Calibration sheet on the conveyer 10 Press the F1 FWD key and execute step feed 3 Check that the calibration is displayed Paste calibration seat within the field of vision checking the live images of In Sight Explorer With this operation encoder data is acquired Robot Conveyer flow Ｒ Robot movement of range Camera for vision sensor Calibration seat PROGRAM B1 Edit 8 MEncNo 1 TEACH EDIT DEL...

Страница 73: ...WD key and execute step feed 4 Specify the mark in three is displayed Specify four points in the calibration sheet by using the N point calibration tool of In Sight Explorer 1 End Live Video of In Sight Explorer and select Inspect Part button of Application Steps 2 Select Geometry Tools User Defined Point in Add tool ...

Страница 74: ...gram 9 62 Operation procedure 3 Click the Add button to display nine candidate points on the screen 4 Select the target candidate points in order and click the OK button 5 The setting screen for calibration is displayed The example of specifying these four points is shown ...

Страница 75: ... the F1 FWD key and execute step feed 7 Set robot XY coordinates in world coordinates is displayed Click Get position button in Edit Tool column of In Sight Explorer Input the current position X and Y of the robot displayed in the JOG screen of T B to the World X and World Y fields in the Edit Tool area of In Sight Explorer Move the robot to first point The same values as that in the pixel row and...

Страница 76: ...made in the vision sensor 17 Press the F1 FWD key and execute step feed 10 Raise the robot arm is displayed Raise the robot With this operation encoder data is acquired 9 2 Confirmation after operation Check the value of M_100 using T B Enter the encoder number in the array element Confirm that the differences between the encoder values acquired on the vision sensor side and the encoder values acq...

Страница 77: ...e operation procedure and items to be confirmed after operation in C1 program for conveyer tracking are explained below 10 1 1 Operation procedure Using C1 program operate in the following procedures 1 Set the controller mode to MANUAL Set the T B to ENABLE 2 Press one of the keys example EXE key while the TITLE screen is displayed The MENU screen will appear 3 Select 1 FILE EDIT screen on the MEN...

Страница 78: ... workpiece number please edit the program as similar procedure 6 PROGRAM C1 4 Date of creation version 2018 5 COPYRIGHT MITSUBISHI ELECTRIC 6 7 1 Input a workpiece number to the BWD FWD JUMP 123 PROGRAM C1 Edit 8 MWrkNo 1 TEACH EDIT DELETE INSERT 123 PROGRAM C1 5 COPYRIGHT MITSUBISHI ELECTRIC 6 7 1 Input a workpiece number to the 8 MWrkNo 1 Set a wo TEACH EDIT DELETE INSERT 123 PROGRAM C1 5 COPYRI...

Страница 79: ...encoder data is acquired Area recognized by a workpiece sensor Robot movement range 10 Press the F1 FWD key and execute step feed 5 Move a workpiece on the conveyer is displayed Drive the conveyer to move the workpiece within the robot movement range Move the workpiece Area recognized by a workpiece sensor Robot movement range PROGRAM C1 8 MWrkNo 1 Set a workpiece 9 2 Input an encoder number to th...

Страница 80: ...r encoder numbers in array elements M_101 Differences between the encoder values acquired at the position of the photoelectronic sensor and the encoder values acquired on the robot side P_100 Position at which workpieces are suctioned P_102 Values of the X coordinate variable MEncNo encoder number Y coordinate MSenNo sensor number Check that each of the values above has been entered correctly 10 1...

Страница 81: ...ognize the work coordinates recognized by the vision sensor The following explains the operation procedure and items to confirm after operation in vision tracking C1 program 10 2 1 Tasks 1 Setting of the English Symbolic tag Set up using the English Symbolic tag Select System Option from the EasyBuilder menu Check the Use English Symbolic Tags for EasyBuilder Select User Interface from option chec...

Страница 82: ...on and Teaching C1 program 10 70 Vision Tracking 2 Setting of high speed output Make the vision sensor offline Click Output from Application Steps Set the trigger Select Acquisition start from Signal type of Discrete output ...

Страница 83: ...Workpiece Recognition and Teaching C1 program Vision Tracking 10 71 Set the pulse width of trigger Click Detalls from Discrete Outputs The optional value Initial value 500 is set as a pulse width Ckick OK ...

Страница 84: ...hat does the tracking Again stop a live image clicking Live Video button Specify the trigger Change Trigger from Camera to Manual 8640 The image trigger is abnormal error occurs when the robot controller outputs the taking picture demand to the vision sensor when you do not change Inport the calibration data In Calibration type select Import In File Name select the Calibration file For example Tra...

Страница 85: ...ration Move the displayed Model frame and enclose workpiece Click OK button in Directions Register workpiece Adjustment Click Settings tab from Edit Tool and change the Rotation Tolerance value to 180 The vision sensor can recognize workpiece up to 180 degrees Change the Accept Threshold and adjust the recognition rate of workpiece The default Accept Threshold is 50 At this stage it is enough as i...

Страница 86: ... the recognized multiple workpieces to the left direction of screen select Y Do the communication setting Click Communication from Application Steps Click Add Device from Communications Select the following from Device Setup Device Robot Manufacturer Mitsubishi Protocol Ethernet Native String Click OK button Set the communication format Preparation Click Add button from Format Output String Select...

Страница 87: ...gle 5 Pattern_1 Fixture1 X 6 Pattern_1 Fixture1 Y 7 Pattern_1 Fixture1 Angle 8 Pattern_1 Fixture2 X 9 Pattern_1 Fixture2 Y 10 Pattern_1 Fixture2 Angle 11 Pattern_1 Fixture3 X 12 Pattern_1 Fixture3 Y 13 Pattern_1 Fixture3 Angle Click OK button Confirmation of communication format Confirm the value enclosed with a square frame Data sent to the robot controller is shown in a right square frame Change...

Страница 88: ...g Save the vision program Click Save Job from Application Steps Click Save from Save Job Make the name of the job that saves it TRK Change the line of CPRG C1 program when not assuming TRK Make it to online Click Run Job from Application Steps Click Online on Job Status ...

Страница 89: ...345 C1 18 02 20 17 06 39 12345 COPY EDIT POSI NEW 123 MENU 3 PARAM 4 ORIGIN BRK 5 SET INIT 1 FILE EDIT 2 RUN CLOSE 123 MELFA CR8xx D Ver A0 RH 3FRH5515 D COPYRIGHT C 2017 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED MENU 3 PARAM 4 ORIGIN BRK 5 SET INIT 1 FILE EDIT 2 RUN CLOSE 123 T B Up DISABLE Down ENABLE Lamp lighting T B rear FILE EDIT A1 18 02 20 17 06 39 12345 B1 18 02 20 17 06 39 1234...

Страница 90: ...ey and execute step feed 3 Input the SKIP input number is displayed Specify the SKIP input number If you want to change the SKIP input number please edit the program as similar procedure 6 PROGRAM C1 8 MWrkNo 1 Set a wo 9 2 Input an encoder number to the 10 MEncNo 1 Set an encoder 11 3 Input the SKIP input number to BWD FWD JUMP 123 PROGRAM C1 4 Date of creation version 2015 5 COPYRIGHT MITSUBISHI...

Страница 91: ...ted with the vision sensor If you want to change the communication line please edit the program as similar procedure 6 12 Press the F1 FWD key and execute step feed 7 Input the vision program name is displayed Specify a vision program to be started If you want to change the vision program please edit the program as similar procedure 6 13 Press the F1 FWD key and execute step feed 8 Place workpiece...

Страница 92: ... not displayed press the FUNCTION key Start of automatic operation When START F1 key is pressed the confirmation screen appears When Yes F1 key is pressed automatic operation of the selected program starts The screen returns to the OPERATION screen After automatic operation C1 program automatically stops and the LED of the STOP button is turned on Open C1 program again with T B Press the F1 FWD ke...

Страница 93: ...movement range 17 Press the F1 FWD key and execute step feed 12 Move the robot to the suction is displayed Move the robot to the position where it is able to suction the workpiece With this operation encoder data and robot position are acquired Vision sensor recognition area Move the hand 18 Press the F1 FWD key and execute step feed 13 Perform step operation until END is displayed Perform step op...

Страница 94: ...riable MEncNo encoder number Y coordinate MSkipNo SKIP input number Value of P_103 Values of the X coordinate variable MVsLen recognition field of image view Y coordinate MWrkLen workpiece size Value of C_100 COM number Value of C_101 Vision program name Confirm that each of the above values is entered 10 2 4 When multiple conveyers are used Carry out the same operations as above when multiple con...

Страница 95: ...point Teach the origin position waiting position and transportation point The following explains how to perform these operations 1 Open 1 program using T B 2 Open the Position data Edit screen 3 Display PSave in order to set the robot origin position when the system is started 4 Move the robot to the origin position and teach it the position 5 Display PWait in order to set the waiting position in ...

Страница 96: ...ond X Y Z A B C 0 5 0 0 0 0 0 PDly2 Set the release time X Release time s When you set the release time to 0 3 second X Y Z A B C 0 3 0 0 0 0 0 PPri 1 program and CM1 program are run simultaneously multitasking 1 program moves the robot and CM1 program observes the sensor It is possible to specify which program is processed with a higher priority rather than performing the same amount of processin...

Страница 97: ...racking operation is stopped and interruption processing occurs when the workpiece goes beyond Y 200mm in robot coordinate system Start 100mm Ending 200mm Workpiece movement direction Conveyer Forced ending 400mm 300m Workpiece movement direction The conveyer is placed on a robot s right hand side and the workpiece flows from the rear to front If you set Start position to 100mm Ending position to ...

Страница 98: ...lected program starts The screen returns to the OPERATION screen P Pr re ep pa ar re e f fo or r t th he e u un ne ex xp pe ec ct te ed d o op pe er ra at ti io on n o of f t th he e r ro ob bo ot t p pl le ea as se e c ca an n p pr re es ss s a an ny yt ti im me e e em me er rg ge en nc cy y s st to op p s sw wi it tc ch h o of f T T B B 8 When the robot moves to the specified retracted position ...

Страница 99: ...nd adsorption time of the robot arm that was described in 11 2 Setting of adjustment variables in the program should be changed in the following procedure 1 Start the Program monitor of RT ToolBox3 2 Click the Add button and open the Add display variables screen Enter the variables listed in the Table 11 1 List of adjustment variables in the program and then click the OK button Others PUp2 PDly1 P...

Страница 100: ...value for displayed in the Edit Position data For example change to 50 from 30 the value of the Z coordinate of the PUp1 4 Click OK button and confirm that was able to change the value of the variable that is specified in the Variable Monitor 5 Return to the 11 3 Automatic Operation and then check to see whether the can be corrected by implementing the automatic operation ...

Страница 101: ...es 1 program change the following procedure 1 Start the Program monitor of RT ToolBox3 2 Click the Add button and open the Add display variables screen Enter the following three state variables and then click the OK button Others M_TrkEnd 1 M_TrkStop 2 In specify the condition number 3 Double click the variable you want to change and change the value in the displayed Changing Values screen Assume ...

Страница 102: ...justment of Tracking starting possible area For example if you want the tracking started early 100mm Image of the tracking area is as follows Tracking area 500mm Before tracking starting distance change Tracking area 500mm 600mm After tracking starting distance change ...

Страница 103: ... 11 91 4 Similarly please adjust using the M_TrkEnd for the end position of the tracking starting possible area Also please adjust using the M_TrkStop for the position to be forcibly terminated 11 6 Occurrence of error When an error occurred please confirm the 17 Troubleshooting ...

Страница 104: ...tions 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 12 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...

Страница 105: ... of 3 8 points as follows in the screen mentioned above 12 1 2 Confirm the encoder value An important one is a change in the encoder value in this work Confirm whether a robot controller grasps the turn of the encoder From the project tree click the target project Online Monitor Movement Monitor Program Monitor then double click the Task slot to monitor ...

Страница 106: ...y variables screen Input M_Enc 1 to a space variable name and click a OK button also input M_Enc 2 M_Enc 8 equally and click a OK button Confirm that the value of M_Enc changes by a revolution of a turntable When the encoder value doesn t change confirm the parameter setting and the wiring of 6 1 Tracking Parameter Setting ...

Страница 107: ...t the contents it s necessary to know before this work On the turntable decide the area where the robot starting tracking Tracking starting possible area and the area where a robot can continue tracking a workpiece Tracking area Tracking starting possible area Figure 12 1 Tracking starting possible area Tracking area Figure 12 2 Tracking area ...

Страница 108: ...ith the program name A1 and press the EXE key Display the program edit screen T B Up DISABLE Down ENABLE Lamp lighting T B rear FILE EDIT 1 18 02 03 17 06 39 12345 A1 18 02 03 17 06 39 12345 CM1 18 02 03 17 06 39 12345 COPY EDIT POSI NEW 123 PROGRAM A1 1 2 Conveyor circular arc tracking 3 Program name A1 prg 4 Date Version 2018 02 14 1 0 COPY EDIT POSI NEW 123 FILE EDIT 1 18 02 03 17 06 39 12345 A...

Страница 109: ...yed If you are able to set the tool length or if the setting is not required in 6 2 Operation Parameters go to the next If you need to set set the tool length refer to 6 2 Operation Parameters PROGRAM A1 4 Date Version 2018 02 14 1 0 5 Copyright C 2018 Mitsubishi El 6 7 1 ﾜｸﾉﾋﾝｼｭﾊﾞﾝｺﾞｳｼﾞｮｳｹﾝﾊﾞﾝｺﾞ BWD FWD JUMP 123 PROGRAM A1 1 2 Conveyor circular arc tracking 3 Program name A1 prg 4 Date Version...

Страница 110: ...o the variable MSenNo is displayed Specify the number of the sensor that monitors a workpiece To change the sensor number as with the procedure 6 change the number input after MSenNo in the program Use the SKIP input signal of the robot controller Set any number The sample program uses number 801 PROGRAM A1 20 4 ｾﾝｻﾉﾆｭｳﾘｮｸｼﾝｺﾞｳﾊﾞﾝｺﾞｳｦ 21 4 Set the input signal number of 22 MSenNo 801 TEACH EDIT D...

Страница 111: ...splayed Move the turntable and place the workpiece at a position where photoelectronic sensor reacts 12 Press the F1 FWD key and execute step feed 6 Move workpiece to the tracking area start position by conveyor is displayed Move the turntable and place the workpiece in position to enter the area where the robot starting tracking start position of the Tracking starting possible area ...

Страница 112: ...ece in the Tracking starting possible area 14 Press the F1 FWD key and execute step feed 8 Move the robot to the waiting position home position is displayed Raise the robot arm to work without adsorption specify the retracted position of the automatic operation start Start position and the standby position to wait for workpiece Please decide the amount of increase depending on the system This posi...

Страница 113: ... at the end position of the Tracking starting possible area 16 Press the F1 FWD key and execute step feed 10 Move the robot to the adsorption point of workpiece is displayed Against the workpiece at the end position of the Tracking starting possible area and then move the robot arm to the position of the same conditions as when it was taught in the start position of the Tracking starting possible ...

Страница 114: ...ace the workpiece at the position to forcibly terminate the tracking 18 Press the F1 FWD key and execute step feed 12 Move the robot to the adsorption point of workpiece is displayed Against the workpiece at the tracking cancellation position and then move the robot arm to the position of the same conditions as when it was taught in the start position of the Tracking starting possible area This po...

Страница 115: ...ram to the first line and save it as follows a Press the F2 JUMP key b input the step number Press the EXE key Then returns to first step c Press the FUNCTION key and change the function display Press the F4 close key and close the program PROGRAM A1 Step 1 CLOSE 123 PROGRAM A1 1 2 Conveyor circular arc tracking 3 Program name A1 prg 4 Date Version 2018 02 14 1 0 TEACH EDIT DELETE INSERT 123 PROGR...

Страница 116: ...postion Wait position P_103 P_104 Tracking starting possible area A Encoder value M_EncSensor C Encoder value M_EncEnd No 2 position for circular P_108 D Encoder value M_EncStop No 3 position for circular P_109 E Transportation position P_105 Photoelectronic Sensor Figure 12 3 Overall picture of the teachings Confirm that the following variable includes the price using the variable monitor of RT T...

Страница 117: ...ng points Example When using conveyer 2 encoder number 2 kind number 2 signal number of photoelectronic sensor 16 a Copy the A1 program please create a A2 program b If you want to change the tool length please change the tool length in advance b Please change the kind number for variable MWrkNo in the A2 program to 2 c Please change the encoder number for variable MWrkNo in the A2 program to 2 d P...

Страница 118: ...co or rd di in ng g t to o t th he e m mo od de el l o of f t th he e r ro ob bo ot 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 Fo or r t th hi is s v va ar ri ia ab bl le e t to o b be e c ca al lc cu...

Страница 119: ...ssed automatic operation of the selected program starts The screen returns to the OPERATION screen P Pr re ep pa ar re e f fo or r t th he e u un ne ex xp pe ec ct te ed d o op pe er ra at ti io on n o of f t th he e r ro ob bo ot t p pl le ea as se e c ca an n p pr re es ss s a an ny yt ti im me e e em me er rg ge en nc cy y s st to op p s sw wi it tc ch h o of f T T B B 8 When the robot moves to...

Страница 120: ...nt from the set position in A1 program Therefore after determining the rotation speed of the turntable you have to adjust the position with the following procedure 1 Start the Program monitor of RT ToolBox3 2 Click a Add button and open a Add display variables screen Input M_EncSensor 1 to a space variable name and click a OK button also input P_EncDlt 1 equally and click a OK button In specify th...

Страница 121: ...the circumference every 1 pulse The direction of rotation of the turntable is assumed plus direction If you want to correct 3mm of robot arm in the plus direction you reduce the value of M_EncSensor 1 100 pulses 4 Double click the M_EncSensor 1 and change the number of displayed value of variable column In specify the condition number 5 Click OK button and confirm that the value of M_EncSensor 1 d...

Страница 122: ...g conditions should be changed in the following procedure 1 Start the Program monitor of RT ToolBox3 2 Click the Add button and open the Add display variables screen Enter the variables listed in the Table 13 1 List of variable for operating conditions and then click the OK button Others PUp2 PDly1 PDly2 etc 3 Double click the variable you want to change and change the appropriate value for displa...

Страница 123: ... operating conditions 13 111 4 Click OK button and confirm that was able to change the value of the variable that is specified in the Variable Monitor 5 Return to the 13 2 Automatic operation and then check to see whether the can be corrected by implementing the automatic operation ...

Страница 124: ...Program change the following procedure 1 Start the Program monitor of RT ToolBox3 2 Click the Add button and open the Add display variables screen Enter the following three state variables and then click the OK button Others M_TrkEnd 1 M_TrkStop 2 In specify the condition number 3 Double click the variable you want to change and change the value in the displayed Changing Values screen Assume that ...

Страница 125: ...ng of an operating condition and operations check 1 Program Adjustment of Tracking starting possible area 13 113 For example if you want the tracking started early 20mm Image of the tracking area is as follows ...

Страница 126: ...ce of error 4 Similarly please adjust using the M_TrkEnd for the end position of the tracking starting possible area Also please adjust using the M_TrkStop for the position to be forcibly terminated 13 6 Occurrence of error When an error occurred please confirm the 17 Troubleshooting ...

Страница 127: ...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 whe...

Страница 128: ...racking data buffer TrRd Read workpiece data from the tracking data buffer TrkChk Execute the processing depending on the state of workpiece corresponding to Condition number specified TrkWait Wait until workpiece corresponding to Condition number specified enters to the tracking area TrkMv Execute the next processing Validate specified interruption Start tracking Move to the tracking upper positi...

Страница 129: ...Tracking starting possible area It s changed by a program A1 automatically Don t change this variable manually When it s changed arc information becomes abnormal R W Long precision real number M_EncEnd Condition Number 1 to 8 The encoder value in the end position of Tracking starting possible area R W Long precision real number M_EncStop Condition Number 1 to 8 The encoder value in the location wh...

Страница 130: ...om the tracking buffer R Integer M_TrkEncNo Condition Number 1 to 8 Encoder number taken out from the tracking buffer R Integer P_TrkTarget The workpiece coordinate where the robot is following R Position M_Trbfct buffer No 1 to The first argument of parameter TRBUF Number of data items stored in the tracking buffer R Integer P_CvSpd number of encoders 1 to 8 Conveyer speed mm rad sec R Position M...

Страница 131: ...lanations of instructions are given using the following format Function Describes the function of an instruction Format Describes the entry method of arguments of an instruction indicate an argument indicates that entry can be omitted indicate that space is required Term Describes meaning range and so on of an argument Example Presents statement examples Explanation Provides detailed function desc...

Страница 132: ...ram 1 TrClr 1 Clear the tracking data buffer No 1 2 LOOP 3 If M_In 8 0 Then GoTo LOOP Jump to LOOP if input signal No 8 to which a photoelectronic sensor is connected is OFF 4 M1 M_Enc 1 Acquire the data of encoder number 1 at the time when input signal No 8 is turned on and store it in M1 5 TrWrt P1 M1 MK Write workpiece position data P1 encoder value M1 at the time an image is acquired and model...

Страница 133: ... 3 Trk On P1 M1 Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1 4 Mvs P2 Setting the current position of P1 as P1c make the robot operate while following workpieces with the target position of Inv P0 P2 Add that to the target location And tracking 5 HClose 1 Close hand 1 6 Trk Off End the tracking operation 2 Sensor data reception prog...

Страница 134: ...ece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1 4 Mvs P2 Setting the current position of P1 as P1c make the robot operate while following workpieces with the target position of Inv P0 P2 Add that to the target location And tracking 5 HClose 1 Close hand 1 6 Trk Off End the tracking ...

Страница 135: ...he workpiece position robot coordinates encoder value model number encoder number and workpiece position pixel coordinates stored by the TrWrt instruction from the specified buffer 2 If the TrRd instruction is executed when no data is stored in the specified buffer Error 2540 There is no read data occurs ...

Страница 136: ...sition Position can be omitted Specify the waiting position until workpiece enters a tracking possible area In the case of vision tracking a robot moves to the position which has grasped the position through which workpiece flows and changed the value of X and C coordinates or Y and C coordinates from the value of X and Y of a state variable P_EncDlt to the specified Waiting position It is effecti...

Страница 137: ...ssings according to the execution result of this command M_TrkChk value Execution result Processing Robot operation 0 No workpiece in the tracking buffer Execute the process that move to specified Starting position Robot move from current position to Starting position 1 There is workpiece information in the tracking buffer And the workpiece has passed the tracking starting possible area No process...

Страница 138: ...ce 1 Workpiece passed over LBFCHK TrkWait LBFCHK Wait for the workpiece Jump to LBFCHK at the timeout Explanation 1 Take workpiece information out of TrkChk wait until the workpiece enters to the range specified for state variable M_TrkStart and M_TrkEnd 2 When work piece passes away by discontinuation etc the following work piece information is taken out from a tracking buffer and it waits until ...

Страница 139: ...k On Move to the tracking upper position In the case of exceeding the distance specified by M_TrkStop Trk Off Jump to S91STOP adsorption Release assembly etc TrkMv Off Stop the interrupt check Trk Off Explanation 1 In the case of TrkMv On if the workpiece position exceed the distance specified by M_TrkStop execute the interrupt processing that jump to label specified for Branch destination by usin...

Страница 140: ...Validate TrkFine TrkMv On PGTUP 1 S91STOP Start the interrupt check Trk On Move to the tracking upper position In the case of exceeding the distance specified by M_TrkStop Trk Off Jump to S91STOP adsorption Release assembly etc TrkFine Off Invalidate TrkFine TrkMv Off Stop the interrupt check Trk Off Explanation 1 The system default value is TrkFine Off 2 When the tracking function valid state Trk...

Страница 141: ...he SKIP input receives the signal EBRead 1 MNUM PVS1 PVS2 The data of Job Robot FormatString is stored in the read out variable MNUM PVS1 and PVS2 NVClose 1 Cuts the line with the vision sensor connected to COM2 Explanation 1 Outputs the image capture request to the specified vision sensor and acquires the encoder value after the SKIP input receives the signal 2 The SKIP input number specify the n...

Страница 142: ...ent value range over TrkTrg error occurs 16 If the same SKIP input number is specified by another task L 8623 SKIP input number is already used error occurs 17 If the vision program s image capture specification is set to anything other than Camera all trigger command External trigger or Manual trigger L 8640 The image trigger is abnormal error occurs 18 If the vision sensor is Offline L 8640 The ...

Страница 143: ... COM number and File number Example Normal example Error example 1 Open COM1 As 1 1 Open COM2 As 1 2 NVOpen COM2 As 2 2 NVOpen COM2 As 2 COM number used 3 NVOpen COM3 As 3 3 NVOpen COM3 Ass 1 Vision sensor number Used It is not possible to open more than one line in a configuration with one robot controller and one vision sensor If the same IP address is set as when the NETHSTIP parameter was set ...

Страница 144: ...o few L3120 incorrect argument count error occurs 14 If the character specified in COM number is anything other than COM2 through COM8 L3110 argument out of range error occurs 15 If the value specified as the vision sensor number is anything other than 1 through 8 L3110 argument out of range error occurs 16 If a COM number for which the line is already connected is specified including the File num...

Страница 145: ...cution shifts to the next step 4 Because up to seven vision sensors can be connected at the same time Vision sensor numbers are used in order to identify which vision sensor to close the line for 5 If the program is cancelled while this command is being executed execution continues until processing of this command is complete 6 When this command is used with multi tasking in the task using this co...

Страница 146: ...sion program name is already loaded the command ends with no processing 5 When this command is used with multi tasking it is necessary to execute the NVOpen command in the task using this command Also use the vision sensor number specified with the NVOpen command 6 A program start condition of Always and the continue function are not supported 7 If an interrupt condition is established while this ...

Страница 147: ...umber 1 log on is not complete NVOpen COM2 As 1 Connects with the vision sensor connected to COM2 End If Wait M_NvOpen 1 1 Connects with vision sensor number 1 and waits for logon to be completed NVLoad 1 TEST Loads the Test program TrkTrg 1 2 M1 M2 Starts the Test program EBRead 1 MNUM PVS1 PVS2 The data of Job Robot FormatString tag is read and they are preserved in the variable MNUM PVS1 and PV...

Страница 148: ... CY1 CC1 CX2 CY2 CC2 is executed is CNUM 2 CX1 125 75 CY1 130 5 CC1 117 2 CX2 55 1 CY2 0 CC2 16 2 C Content of specified tag Job Robot FormatString is 2 125 75 130 5 a The value when EBRead 1 MNUM PVS1 is executed is MNUM 2 PVS1 X 125 75 PVS1 Y 130 5 The element Excluding X and Y element that the vision data is not set is 0 12 If data type for an argument is incorrect L4220 syntax error in input c...

Страница 149: ... other than A Z L3110 argument out of range error occurs 26 If there is no value in the cell specified in Recognition count cell L8630 invalid value in specified for recognition count cell error occurs 27 If the Start cell and End cell are reversed L8631 specified cell value out of range error occurs 28 If the number of data included in the cell which specifies it by Start cell and End cell exceed...

Страница 150: ... position data which were specified with an argument Circular arc position 1 Circular arc position 2 Circular arc position 3 and encoder data which were set in robot status variable M_EncSensor M_EncStart M_EncEnd M_EncStop 2 Circular arc position 1 Circular arc position 2 Circular arc position 3 means starting position ending position cancellation position of an arc 3 Execute TrkArc before beginn...

Страница 151: ...er designated by M1 variable in MENC2 variable TrWrt P1 M_Enc 1 MK This variable writes in buffer 1 that the location of the workpiece which was kind number MK is P1 at the present encoder value M_Enc 1 M_Enc 1 0 Changes the encoder value of the logic encoder No 1 to 0 Explanation 1 Acquire the encoder value of the designated logic encoder number The acquired encoder value is written in a tracking...

Страница 152: ... it is not required until next latched data is used Explanation 1 Stored encoder value corresponding to the encoder number specified for logical encoder number is acquired Encoder value is stored in memory at a low to high or high to low transition of TREN signal which has been specified with a DIP switch on Q173DPX module Encoder value thus acquired is written onto the buffer for tracking by usin...

Страница 153: ...bot movement per encoder pulse Position Variables Position Specify a position variable that stores amount of robot movement per encoder pulse Reference Program P_EncDlt 1 P1 Amount of robot movement per encoder pulse of encoder number 1 is set P2 P_EncDlt 2 Amount of robot movement per encoder pulsee of encoder number 2 is stored in positional variable Explanation 1 The amount of robot movement pe...

Страница 154: ...e position of workpiece to which the sensor reacts Reference Program PWrk P_TrkSensor 1 Workpiece position is stored in positional variable TrWrt PWrk MEncData MWrkNo 1 MEncNo Workpiece information is written in a tracking buffer Explanation 1 The position of workpiece to which the sensor of specified Condition number reacted is returned 2 When the TrkArc and TrkChk command isn t executed the valu...

Страница 155: ...nsor 1 M_Enc 1 Encoder data at the position in which the sensor reacts to workpiece is gotten M_EncStart 1 M_Enc 1 Encoder data at tracking area starting position is gotten P_107 1 P_Fbc 1 Robot current position is gotten M_EncEnd 1 M_Enc 1 Encoder data at tracking area ending position is gotten P_108 1 P_Fbc 1 Robot current position is gotten M_EncStop 1 M_Enc 1 Encoder data at tracking cancellat...

Страница 156: ...sor 1 M_Enc 1 Encoder data at the position in which the sensor reacts to workpiece is gotten M_EncStart 1 M_Enc 1 Encoder data at tracking area starting position is gotten P_107 1 P_Fbc 1 Robot current position is gotten M_EncEnd 1 M_Enc 1 Encoder data at tracking area ending position is gotten P_108 1 P_Fbc 1 Robot current position is gotten M_EncStop 1 M_Enc 1 Encoder data at tracking cancellati...

Страница 157: ...ncoder data at the position in which the sensor reacts to workpiece is gotten M_EncStart 1 M_Enc 1 Encoder data at tracking area starting position is gotten P_107 1 P_Fbc 1 Robot current position is gotten M_EncEnd 1 M_Enc 1 Encoder data at tracking area ending position is gotten P_108 1 P_Fbc 1 Robot current position is gotten M_EncStop 1 M_Enc 1 Encoder data at tracking cancellation position is ...

Страница 158: ... Encoder data at the position in which the sensor reacts to workpiece is gotten M_EncStart 1 M_Enc 1 Encoder data at tracking area starting position is gotten P_107 1 P_Fbc 1 Robot current position is gotten M_EncEnd 1 M_Enc 1 Encoder data at tracking area ending position is gotten P_108 1 P_Fbc 1 Robot current position is gotten M_EncStop 1 M_Enc 1 Encoder data at tracking cancellation position i...

Страница 159: ...ng acceleration coefficient Reference program P_TrkPAcl 1 0 2 0 2 0 2 1 0 1 0 1 0 1 0 1 0 Specify the tracking acceleration coefficient P_TrkPDcl 1 0 2 0 2 0 2 1 0 1 0 1 0 1 0 1 0 Specify the tracking deceleration coefficient LTRST TrkMv On PGTUP 1 S91STOP Start the interrupt processing Trk On Move to the tracking upper position Explanation 1 Specify the tracking acceleration coefficient used in t...

Страница 160: ...g deceleration coefficient Reference program P_TrkPAcl 1 0 2 0 2 0 2 1 0 1 0 1 0 1 0 1 0 Specify the tracking acceleration coefficient P_TrkPDcl 1 0 2 0 2 0 2 1 0 1 0 1 0 1 0 1 0 Specify the tracking deceleration coefficient LTRST TrkMv On PGTUP 1 S91STOP Start the interrupt processing Trk On Move to the tracking upper position Explanation 1 Specify the tracking deceleration coefficient used in tr...

Страница 161: ...n number 1 uses number 1 TrkChk 1 P1 PWAIT LTRST Check the workpiece in the tracking buffer which is specified Explanation 1 Specify the tracking buffer number used in tracking command TrkChk TrkWait TrkMv 2 You can confirm the specified tracking buffer number by referencing M_TrkBuf 3 If the tracking buffer number is not specified by using M_TrkBuf before executing TrkChk command tracking number ...

Страница 162: ...ircular arc tracking designate the correction amount from the tracking starting possible area Setting range 0 00 to Robot operation range Unit mm Numeric variable Single precision real number Return the starting position of range in which it is possible to execute the tracking Reference program M_TrkBuf 1 1 Tracking buffer corresponding to the condition number 1 uses number 1 M_TrkStart 1 30 Start...

Страница 163: ...ing starting possible area Setting range 0 00 to Robot operation range Unit mm Numeric Variable Single precision real number Return end position of range in which it is possible to execute the tracking Reference program M_TrkBuf 1 1 Tracking buffer corresponding to the condition number 1 uses number 1 M_TrkStart 1 30 Starting position of range in which it is possible to execute the tracking corres...

Страница 164: ...e Unit mm Numeric Variable Single precision real number Return forced ending position of range in which it is possible to execute the tracking Reference program M_TrkBuf 1 1 Tracking buffer corresponding to the condition number 1 uses number 1 M_TrkStart 1 30 Starting position of range in which it is possible to execute the tracking corresponding to condition number 1 is 30mm M_TrkEnd 1 10 End pos...

Страница 165: ...number Return specified tracking buffer number Reference program M_TrkTime 1 60 Set the timeout time to 60 second TrkChk 1 PSave PWait LTRST No workpiece PSave Waits for the workpiece PWait Workpiece can be followed by tracking LTRST If M_TrkChk 1 1 Then GoTo LBFCHK 0 No workpiece 1 Workpiece passed over Jump to LBFCHK TrkWait LBFCHK Waits until workpiece enters to the tracking area Explanation 1 ...

Страница 166: ...he workpiece do not operate along the external form of the workpiece you may appoint the position specified when you teach the position which absorb the workpiece for example PTeach as P_TrkBase and appoint the above PTeach as movement instruction that moves during TrkOn TrkMv Off Mov PTeach Format Writing P_TrkBase Condition number Position data Referencing Position variable P_TrkBase Condition n...

Страница 167: ...Specify the tracking base LTRST TrkMv On PGTUP 1 S91STOP Start the interrupt processing Trk On Move to the tracking upper position Explanation 1 Specify the workpiece coordinate system origin used in tracking command TrkMv 2 You can confirm the workpiece coordinate system origin by referencing P_TrkBase 3 You can omit the step to specify Condition number When it is omitted condition number will be...

Страница 168: ... encoder value which accumulated after a sensor reacts to a workpiece Reference Program MLimit M_EncStop 1 M_EncSensor 1 the encoder value which accumulated after a sensor reacts to a workpiece is calculated Def Act 1 M_TrkArcEnc 1 MLimit Goto S91STOP The definition which interrupts if the termination location is exceeded Act 1 1 Interrupt enable Explanation 1 You can check the encoder value which...

Страница 169: ...ram M_TrkBuf 1 1 Tracking buffer corresponding to the condition number 1 uses number 1 LBFCHK TrkChk 1 PSave PWait LTRST Check the workpiece of the specified tracking buffer If M_TrkChk 1 1 Then GoTo LBFCHK 0 No Workpiece 1 Workpiece passed over Jump to LBFCHK Explanation 1 You can confirm the workpiece state read from the tracking buffer when TrkChk TrkWait command is executed 2 You can omit the ...

Страница 170: ...t program 15 158 MELFA BASIC V or MELFA BASIC VI instruction anything else causes L3110 Argument value range over error to occur 4 When you execute the writing to M_TrkChk L3210 This variable is write protected error occurs ...

Страница 171: ...sponding to the condition number 1 uses number 1 TrkChk 1 PSave PWait LTRST Check the workpiece of the specified tracking buffer PWrk P_TrkWork 1 Substitute the workpiece position read from the tracking buffer 1 Explanation 1 You can confirm the workpiece position read from the tracking buffer when TrkChk TrkWait command is executed 2 If there is no data in the tracking buffer the data will be cle...

Страница 172: ... corresponding to the condition number 1 uses number 1 TrkChk 1 P1 PWAIT LTRST Check the workpiece of the specified tracking buffer MEnc M_TrkEnc 1 Substitute the workpiece position read from the tracking buffer 1 Explanation 1 You can confirm the encoder value read from the tracking buffer when the TrkChk TrkWait command is executed 2 If there is no data in the tracking buffer the data will be cl...

Страница 173: ...corresponding to the condition number 1 uses number 1 TrkChk 1 P1 PWAIT LTRST Check the workpiece of the specified tracking buffer MKind M_TrkKind 1 Substitute the model number read from the tracking buffer 1 Explanation 1 You can confirm the model number read from the tracking buffer when TrkChk TrkWait command is executed 2 If there is no data in the tracking buffer the data will be cleared 3 Yo...

Страница 174: ...corresponding to the condition number 1 uses number 1 TrkChk 1 P1 PWAIT LTRST Check the workpiece of the specified tracking buffer MEncNo M_TrkEncNo 1 Substitute the encoder number read from the tracking buffer 1 Explanation 1 You can confirm the encoder number read from the tracking buffer when TrkChk TrkWait command is executed 2 If there is no data in the tracking buffer the data will be cleare...

Страница 175: ...tracking buffer when TrkChk TrkWait command is executed and the current workpiece position calculated from the state variable P_EncDlt Reference program M_TrkBuf 1 1 Tracking buffer corresponding to the condition number 1 uses number 1 TrkChk 1 P1 PWAIT LTRST Check the workpiece of the specified tracking buffer PWrkNow P_TrkTarget Substitute the current workpiece position Explanation 1 You can con...

Страница 176: ... TRBUF If the argument is omitted 1 is set as the default value Numeric value integer The number of workpieces in the designated buffer is returned to Buffer number Reference program MWrk M_Trbfct 1 The number of works in number 1 of tracking buffer is stocked in variable MWrk Explanation 1 You can confirm the number of works in the designated buffer 2 You can omit the step to specify Buffer numbe...

Страница 177: ...oordinate of X Y Z 0 0 0 L1 L2 When a conveyor is arranged slantingly the value enters X Y Z In case of the circular arc tracking function returns tool up speed on the arc to an X element Reference program PCvSpd P_CvSpd 1 Stocks the speed of logic encoder No 1 in a PCvSpd variable Explanation 1 Refer to speed of the conveyer and the turntable 2 In case of the circular arc tracking when do not exe...

Страница 178: ...ional condition Processing of accompanying instruction to the operation instruction 4 Initial value just after the power supply obeys the setting value of the parameter HANDTYPE or HANDINIT Output signal number 900 to 907 or ORS General purpose output signal 5 If you appoint the hand number which is not specified by the parameter HANDTYPE it becomes no processing at the time of writing and 1 Undef...

Страница 179: ...ed tracking function type Reference program M_TrkType 1 1 The tracking function type corresponding to the condition number 1 uses Circular arc TrkChk 1 PSave PWait LTRST Check the workpiece in the tracking buffer which is specified Explanation 1 Specify the tracking function type 2 The specified tracking function type can be checked by referring to M_TrkType 3 You can omit the step to specify Cond...

Страница 180: ...sponding to the condition number 1 uses number 1 TrkChk 1 PSave PWait LTRST Check the workpiece of the specified tracking buffer Pixel P_TrkPixel 1 Substitute the workpiece pixel position read from the tracking buffer 1 Explanation 1 You can confirm the workpiece pixel position read from the tracking buffer when TrkChk TrkWait command is executed 2 If there is no data in the tracking buffer the da...

Страница 181: ... the vision sensor connected to COM2 Explanation 1 Indicates the status of a line connected with a network vision sensor with an NVOpen command when the line is opened 2 The initial value is 1 At the point in time that the NVOpen command is executed and the line is connected the value becomes 0 line connecting At the point in time that the network vision sensor logon is completed the value becomes...

Страница 182: ...t turns the servo power supply on and sets turning servo ON H PLC acknowledges turning servo ON H and sets servo ON L 2 PLC sets program reset H upon receiving program selectable L The robot returns to the beginning of the program and sets program selectable H when the program becomes ready to be started PLC sets program reset L when it detects program selectable H 3 PLC acknowledges turning servo...

Страница 183: ...he conveyer slip Check the slip of encoder confirmation 2 Confirm whether the gap is constant Confirm of gap tendency confirmation 3 Check the timing which the sensor is ON The position shifts The position doesn t shift Adjustment completion Fix the encoder Slip Not slip The gap is irregular by the timing The gap is constant The gap is irregular Do the work of the A1 program again Do the work of t...

Страница 184: ...uring the 10 second in the place where the robot moved to the adsorption position And stop 1 program 5 Confirm whether the position in which the robot adsorbs workpiece is correct 6 Confirm the tendency to a positional gap repeating this work several times Confirmation 3 1 Stop the conveyer 2 Put a workpiece at the front to which a sensor reacts 3 Move the conveyer manually and confirm whether the...

Страница 185: ...ng procedures Start Check the position gap confirmation1 Confirm whether neither the encoder nor the conveyer slip Check the slip of encoder confirmation 2 Check whether to recognize the image center correctly Check the vision confirmation 3 Check whether the calibration is correct The position shifts The position doesn t shift Adjustment completion Fix the encoder Slip Not slip Correctly recogniz...

Страница 186: ...nfirm whether the disk installed in the encoder rotates when the conveyer is made to work Confirmation 2 1 Stop the conveyer 2 Put workpiece on the center of the vision view 3 In In Sight Explorer EasyBuilder click the Set Up Image from the Application Steps And set Calibration Type displayed in the lower right of the screen to None 4 Confirm workpiece is recognized by starting the job and the rec...

Страница 187: ... and start the conveyer in the speed that you want 3 Flow workpiece 4 Stop the conveyer because it keeps following during the 10 second in the place where the robot moved to the adsorption position And stop 1 program 5 Confirm the position in which the robot adsorbs workpiece The position shifts in shape to adsorb the rear side of work Please adjust the encoder value specified by the TrWrt command...

Страница 188: ...ent variables in the program high speed and accuracy tracking or Table 13 1 List of variable for operating conditions circular arc tracking for the adjustment method 16 5 Make movement of the robot speedy Adjust the following setting to make movement of the robot speedy 1 Adjustment of the optimal acceleration and deceleration setting Set mass size and center of gravity of the hand installed in th...

Страница 189: ...OP Mov PGet Type 0 0 Dly PDly1 x A Ad dd d M Mv vr r P PG Ge et t P PS S1 1 P PS S2 2 M Mv vs s P PG Ge et t D Dl ly y P PD Dl ly y1 1 X X A Ad dd d Mov PGetUp Type 0 0 TrkMv Off P_TrkBase MWrkNo P_107 MWrkNo PGet P_TrkBase MWrkNo A Ad dd d P PS S1 1 P PG Ge et t 5 5 0 00 0 5 5 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 P PS S2 2 P PG Ge et t 0 0 0 00 0 1 10 0 0 00 0 0 0 0 00 0 ...

Страница 190: ...0 0 0 0 00 0 0 0 0 00 0 P PC C P PG Ge et t 2 20 0 0 00 0 5 50 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 P PB B P PG Ge et t 2 20 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 0 0 0 00 0 A Ad dd d 2 Circular arc tracking Before sample program change After sample program change 39 Mvs PGet 40 Dly PDly1 X 41 Mvs PGetUp 70 P_TrkBase MWrkNo P_107 MWrkNo 71 PGet ...

Страница 191: ...ide the range parameter TRBUF The first argument is 1 to 8 and the second argument is 1 to 64 Actions 1 Check the value of TRBUF parameter L2530 There is no area where data is written Causes The data of the size or more of the buffer in which the TrWrt command was continuously set to the second argument of parameter TRBUF was written Actions 1 Check the execution count of the TrWrt command is corr...

Страница 192: ... TRKENCn n 1 8 are the same when the TrkArc command is executed Actions Check the setting value of the parameter TRKENCn n 1 8 L2570 Installation slot error Causes Q173DPX is installed in slot 0 2 of a basic base Actions Slot 0 2 of the basic base is basically only for CPU Please install Q173DPX since slot3 L2580 No workpiece in the tracking area Causes There is no workpiece in the tracking buffer...

Страница 193: ... communication with the vision sensor can not be opened Actions Check the communication cable or the communications parameters L3501 Illegal Receive data EBREAD Causes The type of the data received by EBRead command and the type of specified variable are different Actions Revise the program L7810 Abnormal Ethernet parameter setting Causes The parameter setting is incorrect Actions Check the NETHST...

Страница 194: ...eady used Causes SKIP number is already used Actions Confirm the SKIP number L8630 Incorrect value in recognition count cell Causes The recognition count value was not in the cell specified as the recognition count cell Actions Check that the correct cell is specified L8631 Specified cell value out of range Causes Corresponding to either the following The values specified for the start cell and en...

Страница 195: ...nal or manual L8650 Put online Causes The vision sensor is offline Actions Put the vision sensor online to enable control from the outside L8660 Not permitted to control vision sensor Causes The NVUSER and NVPSWD parameters set for logging on to the vision sensor do not have the right to full access to the vision sensor Actions Check the vision sensor side user list registration and specify the na...

Страница 196: ... if the value is enlarged the memory area where the tracking data is saved will be secured Be careful because the program number which can be saved decreases Setting range 1 to 8 Buffer size Specify the size in which the tracking data is preserved Change this element when there is larger tracking data saved by TrWrt command than reading by TrRd command Be careful because the memory is secured like...

Страница 197: ...If the delay is 2 mm when the conveyer speed is 50 mm s Setting value 4 0 2 50 100 If the advance is 1 mm when the conveyer speed is 50 mm s Setting value 2 0 1 50 100 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 Tracking acceleration TRPACL 8 real numbers X Y Z A B C L1 L2 Tracking acceleration Acceleration during execution of tracking movement 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Tracking deceleration TRP...

Страница 198: ...assword to log on the vision sensor is set no more than 15 characters Network Vision Job load timeout sec NVJBTOUT integer 1 Set up a timeout time of network vision sensor used with NVLoad command and TrkTrg command 90 Initial value of tag name specified by EBRead command EBRDTAG Character string 1 Sets up an initial value of the symbolic tag name used with EBRead command it is 128 characters or l...

Страница 199: ...ng this parameter when this gap is caused every time in the same direction when the tracking operates For example the speed of conveyer is 50mm s and there is 2mm gap Y direction 2mm Set value 4 0 2 50 100 4 0 is set to the second element that shows Y coordinates 5 TRBUF 3 100 When three kinds of workpieces flow respectively on the three conveyers for one robot controller three tracking buffers wh...

Страница 200: ...USR12 5 LBH2 terminal of differential encoder B phase signal Input CH2 CNUSR12 6 LAH2 terminal of differential encoder A phase signal Input CNUSR12 7 ENC5V Control power supply 5 V Power supply Common to CH1 and CH2 CNUSR12 8 LBH1 terminal of differential encoder B phase signal Input CH1 CNUSR12 9 LAH1 terminal of differential encoder A phase signal Input CNUSR12 10 SKIP42 SKIP4 input Input Pair w...

Страница 201: ...et This is a calibration sheet Please use this sheet in your calibration work Enlarge or reduce it as necessary to match the size of the field of vision of the image When changing the size of the sheet or calibrating in more points you can photocopy the sheet ...

Страница 202: ...18 Appendix 18 190 Calibration sheet ...

Страница 203: ......

Страница 204: ...Apr 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...

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