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CR750-Q Series
Mitsubishi CR750-Q Series User Manual
158 pages
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Mitsubishi Industrial Robot
CR750/CR751
ser
ies
controller
CRn
-
700
series
controller
Tracking Function
INSTRUCTION MANUAL
BFP
-
A8664
-
H
2
Table of Contents
Default Chapter
8
Table of Contents
8
[Part 1] Overview
11
Contents of this Manual
13
System that Can Achieve
15
1 Overview
11
What Is the Tracking Function
11
Applications
12
[Part 2] System Configuration and Setting (CR750-Q/CR751-Q Series, Crnq-700 Series)
16
2 System Configuration
16
Components
16
Robot Controller Enclosure Products
16
Devices Provided by Customers
16
Example of System Configuration
19
Configuration Example of Conveyer Tracking Systems
19
Configuration Example of Vision Tracking Systems
20
3 Specification
21
Tracking Specifications and Restriction Matter
21
4 Operation Procedure
22
5 Connection of Equipment
23
Preparation of Equipment
23
Ｑ１７３Ｄｐｘ（Manual Pilser Input） Unit Specification
24
Connection of Equipment
30
Connection of Unit
30
Connection with Encoder for Conveyer and Encoder Cable
31
Connection of Photoelectronic Sensor
33
6 Parameter Setting
35
Dedicated Input/Output Parameters
35
Operation Parameters
35
Tracking Parameter Setting
36
Robot Parameter Setting
36
Sequencer CPU Parameter Setting
38
[Part 3] System Configuration and Setting (CR750-D/CR751-D Series, Crnd-700 Series)
41
7 System Configuration
41
Components
41
Robot Controller Enclosure Products
41
Devices Provided by Customers
41
Example of System Configuration
44
Configuration Example of Conveyer Tracking Systems
44
Configuration Example of Vision Tracking Systems
45
8 Specification
46
Tracking Specifications and Restriction Matter
46
9 Operation Procedure
47
10 Connection of Equipment
48
Preparation of Equipment
48
Connection of Conveyer Encoder
48
Installation of Encoder Cable
51
Connection of Photoelectronic Sensor
55
11 Parameter Setting
56
Dedicated Input/Output Parameters
56
Operation Parameters
56
Tracking Parameter Setting
57
12 Sample Robot Programs
58
[Part 4] Tracking Control (Common Function between Series)
58
13 Calibration of Conveyer and Robot Coordinate Systems ("A1" Program)
59
Operation Procedure
59
Tasks
62
Confirmation after Operation
63
When Multiple Conveyers Are Used
63
14 Calibration of Vision Coordinate and Robot Coordinate Systems ("B1" Program)
64
Operation Procedure
64
2) Tasks
68
Confirmation after Operation
72
15 Workpiece Recognition and Teaching ("C1" Program)
73
Program for Conveyer Tracking
73
Program for Vision Tracking
77
16 Teaching and Setting of Adjustment Variables ("1" Program)
87
Setting of Adjustment Variables in the Program
88
17 Sensor Monitoring Program ("CM1" Program)
94
Program for Conveyer Tracking
94
Program for Vision Tracking
94
18 Automatic Operation
95
Preparation
95
Execution
96
At Error Occurrence
96
Ending
96
Adjusting Method
96
19 Maintenance of Robot Program
97
MELFA-BASIC V Instructions
97
List of Instructions
97
List of Robot Status Variables
97
List of Functions
98
Explanation of Tracking Operation Instructions
98
Timing Diagram of Dedicated Input/Output Signals
107
Robot Program Start Processing
107
20 Troubleshooting
108
Occurrence of Error Numbers in the Range from 9000 to 9999
108
Occurrence of Other Errors
110
In such a Case (Improvement Example)
112
The Adsorption Position Shifts
112
Make Adsorption and Release of the Work Speedy
115
Make Movement of the Robot Speedy
115
The Robot Is too Speedy and Drops the Work
115
Restore Backup Data to Another Controller
116
Circle Movement in Tracking
116
Draw the Square While Doing the Tracking
117
21 Appendix
118
List of Parameters Related to Tracking
118
Shine of Changing Parameter
120
Expansion Serial Interface Connector Pin Assignment
123
Chart of Sample Program
125
Conveyer Tracking
125
Vision Tracking
131
Sample Programs
135
Conveyer Tracking
135
Vision Tracking
144
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Mitsubishi CR750-Q Series Specifications
General
Category
Robotics
Axes
6
Protection Class
IP67
Series
CR750-Q
Type
Industrial Robot
Model
CR750-Q
Installation
Floor, Wall, Ceiling
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