YASKAWA Motoman MLX200 - Page 11

xi
168542-1CD
168542-1CD
MLX200 Software and
Operations
Table of Contents
4.2 Configuration Instructions ................................................................................................4-12
4.2.1 Using Configuration Instructions......................................................................... 4-12
4.2.2 Setting Multiple Configuration Instructions ......................................................... 4-12
4.2.3 Using Configuration Instructions with Motions.................................................... 4-13
4.3 Using Blend Factors ........................................................................................................ 4-15
4.3.1 PC Bit Triggering ................................................................................................ 4-15
4.3.2 Sequential Motion Instructions ........................................................................... 4-15
4.4 Programming Pitfalls and Best Practices......................................................................... 4-18
4.4.1 Incomplete AOI Executions ................................................................................ 4-18
4.4.2 DN BIT Checking................................................................................................ 4-20
4.4.3 Reused Control Variables................................................................................... 4-21
4.4.4 Task Overlaps and CPU Load............................................................................ 4-22
5 Collision Detection .......................................................................................................................... 5-1
5.1 Collision Detection Overview ............................................................................................. 5-1
5.2 Configuring Collision Detection from the HMI.................................................................... 5-3
5.3 Using the MLxRobotCollisionDetection Instruction........................................................... 5-9
5.3.1 Initializing Collision Detection from Application ................................................. 5-10
5.3.2 Measuring Collision Detection from Application ................................................. 5-11
5.3.3 Changing Collision Detection Behavior during Application................................. 5-12
6 Conveyor Tracking.......................................................................................................................... 6-1
6.1 Conveyor Tracking Overview............................................................................................. 6-1
6.2 Conveyor Tracking Requirements ..................................................................................... 6-3
6.3 Configuring Conveyor Tracking ......................................................................................... 6-4
6.4 1756-HSC Counter Card Configuration ............................................................................. 6-6
6.4.1 Wiring the 1756-HSC............................................................................................ 6-6
6.4.2 Configuring the 1756-HSC in RSLOGIX............................................................... 6-6
6.4.3 Linking the Conveyor Tags for a 1756-HSC......................................................... 6-7
6.5 Conveyor Parameter Configuration for MLX200................................................................ 6-8
6.6 Conveyor Tracking Setup Procedure............................................................................... 6-10
6.6.1 Verify Counter Card is Functional....................................................................... 6-10
6.6.2 Calculate Conveyor Resolution .......................................................................... 6-10
6.6.3 Teach a User Frame........................................................................................... 6-10
6.6.4 Teach Point and Setup Tracking Parameters..................................................... 6-11
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