Mitsubishi CR750-Q Series - 12 Sample Robot Programs; [Part 4] Tracking Control (Common Function between Series)

12 Sample Robot Programs
[Part 4] Tracking Control (common function between series)
(Take note that there are some aspects which differ between CR750-Q, CR751-Q, CRnQ-700 series and
CR750-D, CR751-D, CRnD-700 series.)
12. Sample Robot Programs
This chapter explains the structure of the sample robot programs.
Two types of sample robot programs are provided; for conveyer tracking and for vision tracking. Their
program structures are shown in “Table 12−1 List of Sample Robot Programs (Conveyer Tracking)” and
“Table 12−2 List of Sample Robot Programs (Vision Tracking)” respectively.
Refer to “RT ToolBox2 Robot Total Engineering Support Software Instruction Manual” for how to install
programs to the robot controller.
Table 12
−1 List of Sample Robot Programs (Conveyer Tracking)
Program name
Description
Explanation
A
1
Conveyer - robot coordinate
system calibration program
This program matches the coordinate systems of the conveyer
and robot and calculates the amount of robot movement per
encoder pulse.
C
1
Workpiece coordinate system
- robot coordinate system
matching program
This program calculates the coordinates at which the robot grabs
a workpiece based on the coordinates at which a sensor is
activated.
1
Operation program
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while
following movement
CM1
Workpiece coordinate monitor
program
This program monitors encoder values and stores workpiece
coordinates.
Table 12
−2 List of Sample Robot Programs (Vision Tracking)
Program name
Description
Explanation
A
1
Conveyer - robot coordinate
system calibration program
This program matches the coordinate systems of the conveyer
and robot and calculates the amount of robot movement per
encoder pulse.
B
1
Vision coordinate system –
robot coordinate system
calibration program
This program matches the vision coordinate system and the robot
coordinate system.
C
1
Workpiece coordinate system
- robot coordinate system
matching program
This program calculates the coordinates at which the robot grabs
a workpiece based on the coordinates at which a vision sensor
has detected the workpiece.
1
Operation program
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while
following movement
CM1
Workpiece coordinate monitor
program
This program monitors encoder values and stores workpiece
coordinates.
12-48 Tracking Parameter Setting