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21 Appendix

Start

Set the ACC and DCC

to 100%

End

Move to over the

placement position

Set the ACC and DCC

Move to the

placement position

Turn suction OFF

Set the ACC and DCC

Move to over the

placement position

Start

End

Tracking base setting

Suction position setting

Interrupt definition

Start

Read data from the

tracking buffer

Move to the escape position

Yes

Set the ACC and DCC

Move to a suction

position

Acquire the

current workpiece position

Move to workpiece wait

posture PWAIT

adsorbtion confirmation

If a workpiece exists

End

Transportation data setting

W orkpiece position

confirmation

Already passed(3)

Inside the area(2)

Position of workpiece?

W ait(1)

W ait flag?

０

１

W ait flag=1

Set the ACC and DCC

Turn on the

interrupt watch.

Tracking operation start

Move to over the

tracking position

Turn suction ON

Turning continuous

movrment control ON

Set the ACC and DCC

Move to over the

suction position

Tracking operation end

Turn off the

interrupt watch.

Set the ACC and DCC

to 100%

W ait flag=0

Chart of sample program 21-119

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English

Mitsubishi CR750-Q Series User Manual

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Mitsubishi CR750-Q Series Specifications

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