Mitsubishi Industrial Robot
CRn-500 Series
INSTRUCTION MANUAL
Expansion Serial Interface
Tracking Function Manual
BFP-A8524-
A
Страница 1: ...Mitsubishi Industrial Robot CRn 500 Series INSTRUCTION MANUAL Expansion Serial Interface Tracking Function Manual BFP A8524 A...
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Страница 3: ...on the start switch etc This also applies to maintenance work with the power source turned ON Indication of teaching work in progress Provide a fence or enclosure during operation to prevent contact...
Страница 4: ...this could lead to malfunctioning by noise or to electric shock accidents Indicate the operation state during robot operation Failure to indicate the state could lead to operators approaching the rob...
Страница 5: ...he controller Provide an earth leakage breaker that packed together on the primary power supply of the controller as protection against electric leakage Confirm the setting connector of the input powe...
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Страница 7: ...on history Date of print Specifications No Details of revisions 2007 01 19 BFP A8524 First print 2009 09 30 BFP A8524 A The EC Declaration of Conformity was changed Correspond to the EMC directive 200...
Страница 8: ...the greatest extent possible Please avoid handling the equipment in any way not described in this manual Note that this manual is written for the following software version Robot controller Version K...
Страница 9: ...9 9 Calibration of Vision Coordinate and Robot Coordinate Systems B program 9 22 10 Workpiece Recognition and Teaching C program 10 25 10 1 Program for Conveyer Tracking 10 25 10 2 Program for Vision...
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Страница 11: ...on a conveyer while working on them conveyer tracking making use of photoelectronic sensors 2 It is possible to follow workpieces that are not in a line moving on a conveyer while working on them even...
Страница 12: ...or applications such as the following 1 Transfer of processed food pallets Figure 1 1 Example of Processed Food Pallet Transfer 2 Lining up parts Figure 1 2 Example of Parts Lineup 3 Assembly of small...
Страница 13: ...mers Vision Tracking for further details Table 2 2 List of Devices Provided by Customers Conveyer Tracking Name of devices to be provided by customers Model Quantity Remark Robot part Teaching pendant...
Страница 14: ...ommended connector for encoder input terminal 10120 30000VE plug made by 3M 10320 52F0 008 shell made by 3M Photoelectronic sensor Used to synchronize tracking 5 V power supply 5 VDC 10 For the encord...
Страница 15: ...lowing figure shows a configuration example of a system that recognizes lined up workpieces on a conveyer passing a photoelectronic sensor and follows the workpieces Figure 2 1 Configuration Example o...
Страница 16: ...workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces Figure 2 3 Configuration Example of Vision Tracking Top View Figure 2 4 Configuration Example of Vision...
Страница 17: ...ductor size 24AWG 0 2 mm 2 Cable length Up to 25 m Photoelectronic sensor 4 Used to detect workpieces positions in conveyer tracking Vision sensor 5 Mitsubishi s network vision sensor Precision at han...
Страница 18: ...B2 CWZ1X 2000 Encoder cable Shielded twisted pair cable Conductor size 24AWG 0 2 mm 2 Length of cable 25m Shielded twisted pair cable Conductor size 24AWG 0 2 mm 2 Length of cable 25m 1 Please refer t...
Страница 19: ...bination result 1 RZ581A Version K6 former Error 7930 EX SIO card is set in SLOT3 occurs if the interface card is set in slot 3 2 RZ581B Version K6 former Error 7930 EX SIO card is set in SLOT3 occurs...
Страница 20: ...K AX CC SIO TRK SIO TRK SIO TRK AX AX SIO TRK CC SIO TRK CC AX ETH SIO TRK SIO TRK ETH SIO TRK AX ETH AX SIO TRK ETH CC SIO TRK ETH CC AX SIO TRK SIO TRK SIO TRK SIO TRK SIO TRK AX SIO TRK AX SIO TRK...
