13 Calibration of Conveyer and Robot Coordinate Systems (
“
A1
”
program)
13.3. Confirmation after operation
Check the value of “P_EncDlt” using T/B.
* This value indicates the movement of each coordinate (mm) of the robot coordinate system,
corresponding to the movement of the conveyer per pulse.
Example) If ”0.5” is displayed for the Y coordinate only
This means that if the conveyer moves for 100 pulses, the workpiece moves 50 mm (0.5 x 100 =
50) in the +Y direction in the robot coordinate system.
When backing up, the data of “P_EncDlt" is not backed up.
Please work referring to "20.3.5 Restore backup data to another controller" when you restore data to
another tracking system.
13.4. When multiple conveyers are used
Carry out the same operations as above when multiple conveyers are used as well, but pay attention to the
following points.
Example) When using conveyer 2 (encoder number 2):
(a) Enter “2” for the encoder number specified for the X coordinate of the position variable “PE” in
the program.
(b) Check the value of “P_EncDlt(2)” using RT ToolBox2 when confirming the data after operation.
Refer to “RT ToolBox2 Robot Total Engineering Support Software Instruction Manual” for how to
check variable values using RT ToolBox2.
Confirmation after operation 13-53
To Next Page
Loading...
Need help?
General
