Mitsubishi CR750-Q Series - Page 75

15 Workpiece Recognition and Teaching ( “ C1 ” program)
(2) Tasks
1) Enter the model number, encoder number and number of the sensor that monitors the workpieces in the
X, Y and Z coordinates of the position variable “PRM1” in the program.
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display
"PRM1" on the position name.
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the
details. Input the model number into X coordinates.
(d) Y coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete
the details. Input the encoder number into Y coordinates.
(e) Z coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete
the details. Input the number of the sensor that monitors the workpieces into Z coordinates.
(f) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PRM1
Y:+0001.00 B:+0000.00
Z:+0008.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
Next
MOVE
TEACH
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123
FL1:00000007 FL2:00000000
<POS> JNT 100% PRM1
Y:+0001.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
Next
MOVE
TEACH
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123
FL1:00000007 FL2:00000000
<POS> JNT 100% PRM1
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<POS> JNT 100% PRM1
Y:+0001.00 B:+0000.00
Z:+0008.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
CLOSE
DELETE
NAME
CHANGE
123
FL1:00000007 FL2:00000000
<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
<POS> JNT 100% PRM1
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0000.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<POS> JNT 100% PRM2
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0000.00 A:+0000.00
Next
MOVE
TEACH
Prev
123
FL1:00000007 FL2:00000000
<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
SD series
SQ series
<POS> JNT 100% PRM1
Y:+0001.00 B:+0000.00
Z:+0810.00 C:+0000.00
L1:+0000.00 L2:+0000.00
X:+0001.00 A:+0000.00
Next
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教示
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FL1:00000007 FL2:00000000
Example) Input signal number is 8
Example)Traking enable signal number is 810.
Program for Conveyer Tracking 15-65