Mitsubishi CR750-Q Series User Manual

15 Workpiece Recognition and Teaching ( “ C1 ” program)
6) Press the [FUNCTION] key, and change the function display
7) Press the [F1] (FWD) key and execute step feed. "(1)Vision No ......." is displayed
8) Work according to the comment directions in the robot program.
9) Next "' (2) Encoder No.. Execute step feed to ".
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the
program.
Figure 15
−1 Operation for Matching Workpiece Coordinates and Robot Coordinates
<PROGRAM> C1
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
CLOSE
DIRECT
CHANGE
挿入
123
<PROGRAM> C1
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1
STEP (1 ）
CLOSE
○
○
○
123
<PROGRAM> C1
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1
6 '##################################
7 '(1) Vision No. ....
3 '(2) Encoder No....
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
BWD
FWD
JUMP
挿入
123
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1) Vision No. ....
4 '# Create/version : 2006.04.21 A1
BWD
FWD
JUMP
挿入
123
<PROGRAM> C1
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
BWD
FWD
JUMP
挿入
123
<PROGRAM> C1
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
1 '## Ver.A1 ########################
TEACH
EDIT
DELETE
INSERT
123
(1) Place a target workpiece
(3) Move the robot

Encoder data acquisition
Encoder data acquisition
Area recognized by
a workpiece sensor
Read the current value
(2) Move the workpiece
15-64 Program for Conveyer Tracking

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English