Mitsubishi CR750-Q Series - Page 93

16 Teaching and Setting of Adjustment Variables ( “ 1 ” Program)
Figure 16
−3 Diagram of Relationship between Adjustment Variables “PRNG” and “PTN” in the Program
X=500mm
Y=300mm
800mm
Conveyer
When the conveyer is placed in front of the
robot
and the workpiece moves from the
right
to left
(= the X coordinate of PTN is “1”)
PRNG: (X,Y
,Z)=(+500,+300,+400)
Workpiece
movement direction
Z=400mm
When the conveyer is placed on the left side
of the robot and the workpiece move
s from
the front to rear (= the X coordinate of PTN is
“4”)
Conveyer
X=500mm
Workpiece
movement direction
When the conveyer is placed on the right side
of the robot and the workpiece move
s from
the rear to front (= the X coordinate of PTN is
“5”)
Z=400mm
800mm
Y=300mm
600mm
Conveyer
X=400mm
Workpiece
movement direction
Z=300mm
Y=200mm
X=300mm
400mm
Conveyer
When the conveyer is placed in front of the
robot and the workpiece moves from the lef
t
to right (= the X coordinate of PTN is “2”)
PRNG: (X,Y,Z)=(+300,+100,+200)
Workpiece
movement direction
Z=200mm
Y=100mm
Setting of adjustment variables in the program 16-83