Mitsubishi CR750-Q Series - Page 92

16 Teaching and Setting of Adjustment Variables ( “ 1 ” Program)
Figure 16
−2 Relationship of singular point neighborhood and tracking area
135mm
Conveyer
When the conveyer is placed at the right under
the robot
and the workpiece move
s from the
rear
to front (= the X coordinate of PTN is “5”)
and the operation range of tracking is set at
front of the robot.
PRNG
は、（X,Y,Z）=(-65,+200,+230)
Workpiece
movement direction
60mm
<Singular Adjustment Point>
The robot can not pass over the
singular adjustment point while
the tracking operation.
Z=230mm
Y=200mm
X= -65mm
135mm
Conveyer
When the conveyer is placed at the right under
the robot
and the workpiece move
s from the
rear
to front (= the X coordinate of PTN is “5”)
and the operation range of tracking is set at
backward the robot.
PRNG
は、（X,Y,Z）=(+230,-95,-75)
X=230mm
Y= -95mm
Z= -75mm
60mm
Workpiece
movement direction
16-82 Setting of adjustment variables in the program