Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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9 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
9-64 Confirmation after operation
(15) Press the [F1] (FWD) key and execute step feed. “(8) Acquire the position of the …” is displayed.
Repeat the steps (13) and (14) for the 2 nd to 4th marks in the calibration sheet.
(16) Press the [F1] (FWD) key and execute step feed. “(9) Click the Export button. Then…” is displayed.
Input an arbitrary name to "File name" in the tool edit column of In - Sight Explorer, an d click the export
button. (In this example, File Name is “Tracking”) And, confirm the calibration file of the specified name
was made in the vision sensor.
(17) Press the [F1] (FWD) key and execute st ep 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 acquired on the robot side are set in “M_100().”
9.3.
When multiple conveyers are used
Carry out the same operations as above when multiple conveyers are used as well, but pay attention to the
following points.
Example ) When using conveyer 2 (encoder number “ 2” ),
(a) Copy the “B 1” program, please create a “B 2” program.
(b) Please change the encoder number for variable “ MEncNo” in the “ B2” program to “ 2” .