Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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10 Workpiece Recognition and Teaching (“C1” program)
10-82 Vision Tracking
10.2.3.
Confirmation after operation
Check the values of the following variables using T/B.
Enter the model number for the array number.

Value of “M_101()”: Differences between encoder values when a workpiece is within the vision sensor area
and when the workpiece is on the robot side

Value of “ P_100()” : Position at which workpieces are suctioned

Value of “ P_101()” : Position at which workpieces are recognized by vision sensor

Value of “P_102()”: Valu es of the X coordinate = variable "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)"

Va lue 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 conveyers are used as well, but pay attention to the
following points.
Example ) When using conveyer 2 (encoder number “ 2” ), kind number “ 2” ,
(a) Copy the “C 1” program, please create a “C 2” program.
(b) Please change the kind number for variable “MWrkNo ” in the “ C2” program to “ 2” .
(c) Please change the encoder n umber for variable “ MEncNo” in the “ C2” program to “ 2” .