Mitsubishi CR750-Q Series - Page 78

15 Workpiece Recognition and Teaching ( “ C1 ” program)
7) Press the [FUNCTION] key, and change the function display
8) Press the [F1] (FWD) key and execute step feed. "(1)Vision No ......." is displayed
9) Work according to the comment directions in the robot program.
10) Next "' (2) Encoder No.. Execute step feed to ".
11) Repeat (7) - (8) and execute step feed to "End."
12) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
13) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the
program.
Figure 15
−2 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
(
4) Move the robot
 Encoder data acquisition

Workpiece position acquisition

Encoder data acquisition

Read the current value
Vision sensor
recognition area
(2) Recognize a workpiece with
the vision sensor
(3) Move the workpiece
(5)
Raise the robot
15-68 Program for Vision Tracking