Mitsubishi CR750-Q Series - Page 84

15 Workpiece Recognition and Teaching ( “ C1 ” program)
4) Specify a communication line to be connected with the vision sensor.
(a) Open the [Command edit] screen.
(b)Display the command step shown in the following
(c) Press [F1] (edit) key and specify the line opened for the robot controller may connect with the vision
sensor to the variable "CCOM$."
example) Open COM3:
(d)Press the [EXE] key and edit is fixed.
5) Specify a vision program to be started.
In the same way as in step 3), change the vision program name entered after “CPRG$=” in the program.
6) Place a workpiece to be recognized within the area that the vision sensor can recognize.
7) Using In-Sight Explorer, place the vision sensor in the online status.
< PROGRAM > C1
12 CCOM$="COM2:"
TEACH
EDIT
DELETE
INSERT
123
< PROGRAM > C1
12 CCOM$="COM3:"
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1
12 CCOM$="COM3"
13 'Program neme of Vision
14 CPRG$="TRK.JOB"
11 'COM No. of comunication line
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> C1
12 CCOM$="COM2"
13 'Program neme of Vision
14 CPRG$="TRK.JOB"
11 'COM No. of comunication line
TEACH
EDIT
DELETE
INSERT
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
15-74 Program for Vision Tracking