Mitsubishi CR750-Q Series User Manual

21 Appendix
(4) CM1.prg
CM1.prg
Start
Data acquisition
CM1.prg
End
Vision sensor
recognition check
Vision sensor initialization
Condition setting
Opening communication
Set the timing in which
the image is acquired
<Data acquisition>
Start
Acquire the data acquired
in program A, B, and C
<Data acquisition>
End
<Condition setting>
Start
Calculation of imaging start
setting value
<Condition setting>
End
<Opening communication>
Start
<Opening communication>
End
Close communication line
Open communication line
and log on
Load the vision program
<Vision sensor initialization>
Start
<Vision sensor initialization>
End
Is the calculated
workpiece a range of
the forecast?
No
Yes
Calculate the robot origin when
the vision sensor recognizes
workpieces
Calculate the amount of conveyer
movement from vision sensor
recognition to workpiece teaching
Calculate theworkpiece position
recognized by the vision sensor
into the robot area
Calculate the vectors specifying the
center of gravity of the vision sensor
and grabbing position
Error output
(9101）
Chart of sample program 21-123

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English