15 Workpiece Recognition and Teaching (
“
C1
”
program)
2) Move a workpiece to the location where the sensor is activated.
* With this operation, encoder data is acquired.
3) Drive the conveyer to move the workpiece within the robot movement range.
4) Move the robot to the position where it suctions the workpiece.
* With this operation, encoder data and robot position are acquired.
5) Perform step operation until “End.”
* With this operation, the robot is able to calculate the position of a workpiece as soon as the
sensor is activated.
(3) Confirmation after operation
Confirm the values of “M_101(),” “P_100()” and “P_102()” using T/B.
Enter encoder numbers in array elements.
“M_101()”: Differences between the encoder values acquired at the position of the photoelectronic sensor
and the encoder values acquired on the robot side.
“P_100()”: Position at which workpieces are suctioned
“P_102()”: The value of the variable “PRM1” set in step (1)
Check that each of the values above has been entered correctly.
15-66 Program for Conveyer Tracking
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