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Mitsubishi Industrial Robot
Tracking Function Manual
CR750/CR751 series controller
CRn-700 series controller
BFP-A8664-F
Safety Precautions
Always read the following precautions and separate "Safety Manual" carefully before using robots, and take appropriate action when required.
Teaching work should only be performed by those individuals who have undergone special
Caution training.
(The same applies to maintenance work with the robot power ON.)
→ Conduct safety education.
Caution
Prepare work regulations indicating robot operation methods and procedures, and measures to be taken when errors occur or when rebooting robots, and observe these rules at all times.
(The same applies to maintenance work with the robot power ON.)
→ Prepare work regulations.
Only perform teaching work after first equipping the controller with a device capable of
Warning
→ Equip with an EMERGENCY STOP button.
Caution
Notify others when teaching work is being performed by affixing a sign to the START switch, etc.
(The same applies to maintenance work with the robot power ON.)
→ Indicate that teaching work is being performed.
Warning
Install fences or enclosures around robots to prevent contact between robots and workers during operation.
→ Install safety fences.
Caution Stipulate a specific signaling method to be used among related workers when starting operation.
→ Operation start signal
As a rule, maintenance work should be performed only after turning OFF the power, and
Caution other workers should be notified that maintenance is being performed by affixing a sign to the START switch, etc.
→ Indicate that maintenance work is being performed.
Caution
Before starting operation, conduct an inspection of robots, EMERGENCY STOP buttons, and any other related devices to ensure that there are no abnormalities.
→ Inspection before starting operation
The following precautions are taken from the separate "Safety Manual".
Refer to the "Safety Manual" for further details.
Use robots in an environment stipulated in the specifications.
Caution
Failure to observe this may result in decreased reliability or breakdown.
(Temperature, humidity, atmosphere, noise environment, etc.)
Caution
Only transport robots in the manner stipulated.
Failure to observe this may result in bodily injury or breakdown if the robot is dropped.
Caution
Caution
Caution
Caution
Warning
Warning
Caution
Warning
Caution
Caution
Caution
Install and use the robot on a secure and stable platform.
Positional displacement or vibrations may occur if the robot is unstable.
Ensure that cables are kept as far apart from noise sources as possible.
Positional displacement or malfunction may occur if in close contact with one another.
Do not apply too much force to connectors, or bend cables too much.
Failure to observe this may result in contact defects or wire damage.
Ensure that the weight of the workpiece, including the hand, does not exceed the rated load or allowable torque.
Failure to observe this may result in alarms or breakdown.
Attach hands and tools, and grip workpieces securely.
Failure to observe this may result in bodily injury or property damage if objects are sent flying or released during operation.
Ground the robot and controller properly.
Failure to observe this may result in malfunction due to noise, or even electric shock.
Always indicate the robot operating status during movement.
If there is no indication, operators may approach the robot, potentially leading to incorrect operation.
If performing teaching work inside the robot movement range, always ensure complete control over the robot beforehand. Failure to observe this may result in bodily injury or property damage if able to start the robot with external commands.
Jog the robot with the speed set as low as possible, and never take your eyes off the robot. Failure to observe this may result in collision with workpieces or surrounding equipment.
Always check robot movement in step operation before commencing auto operation following program editing. Failure to observe this may result in collision with surrounding equipment due to programming mistakes, etc.
If attempting to open the safety fence door during auto operation, ensure that the door is locked, or that the robot stops automatically. Failure to observe this may result in bodily injury.
Caution
Warning
Caution
Caution
Do not perform unauthorized modifications or use maintenance parts other than those stipulated. Failure to observe this may result in breakdown or malfunction.
If moving the robot arm by hand from outside the enclosure, never insert hands or fingers in openings. Depending on the robot posture, hands or fingers may become jammed.
Do not stop the robot or engage the emergency stop by turning OFF the robot controller main power.
Robot accuracy may be adversely affected if the robot controller main power is turned
OFF during auto operation. Furthermore, the robot arm may collide with surrounding equipment if it falls or moves under its own inertia.
When rewriting internal robot controller information such as programs or parameters, do not turn OFF the robot controller main power.
If the robot controller main power is turned OFF while rewriting programs or parameters during auto operation, the internal robot controller information may be destroyed.
Warning
Horizontal multi-joint robots
The hand may drop under its own weight while the robot brake release switch is pressed, and therefore due care should be taken. Failure to observe this may result in collision between the hand and surrounding equipment, or hands or fingers becoming jammed if the hand falls.
Caution
Caution
Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable. If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in deterioration connector properties, leading to malfunction.
Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables. Eye discomfort may be felt if exposed to the light. (SSCNET III employs a Class
1 or equivalent light source as specified in JISC6802 and IEC60825-1.)
Revision history
Date of print Specifications No.
2009-02-10 BFP-A8664-*
2009-10-23 BFP-A8664-A
2010-04-30
2010-10-18
2012-03-01
2012-10-19
BFP-A8664-B
BFP-A8664-C
BFP-A8664-D
BFP-A8664-E
2013-01-22 BFP-A8664-E
Details of revisions
The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)
The tracking function is realized to SQ series.
The notes were added about physical encoder number (List 1-1) and No.9 (List 1-2).
CR750/CR751 series controller were added.
The note was added to Trk command.
The explanation of vision was changed from MELFA-Vision to
In-Sight Explorer for EasyBuilder.
Sample program for RH-3S*HR was added.
The explanation of parameter "TRPACL" and "TRPDCL" was added.
"Troubleshooting" is enhanced.
The statement about trademark registration was added.
Preface
Thank you very much for purchasing Mitsubishi Electric Industrial Robot.
The tracking function allows robots to follow workpieces on a conveyer or transport, line up and process the workpieces without having to stop the conveyer. The conveyor tracking function is the standard function in the controller. It can use only by having the parameter "TRMODE" changed into "1."
Please be sure to read this manual carefully and understand the contents thoroughly before starting to use the equipment in order to make full use of the tracking function.
Within this manual, we have tried to describe all ways in which the equipment can be handled, including non-standard operations, to the greatest extent possible. Please avoid handling the equipment in any way not described in this manual.
Tracking function is installed as standard for the controller, and the function can be used only by changing parameter "TRMODE" from “0" to “1". However, there are different parts in the system configuration and the way of programming in the CR750-Q/CR751-Q, CRnQ-700 series and the CR750-D/CR751-D, CRnD-700 series. Please give the attention that this manual explains these differences between CR750-Q/CR751-Q,
CRnQ-700 series and CR750-D/CR751-D, CRnD-700SD series.
Note that this manual is written for the following software version.
CR750-Q/CR751-Q series : Ver. R3 or later
CR750-D/CR751-D series : Ver. S3 or later
CRnQ-700 series : Ver. R1 or later
CRnD-700 series : Ver. P1a or later
・
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・
An effort has been made to make full descriptions in this manual. However, if any discrepancies or unclear points are found, please contact your service provider.
・
The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may occur".
Please contact your service provider if you find any doubtful, wrong or skipped point.
・
This specifications is original.
・
The ETHERNET is a registered trademark of the Xerox Corp.
・
All other company names and production names in this document are the trademarks or registered trademarks of their respective owners.
Copyright(C) 2009-2013 MITSUBISHI ELECTRIC CORPORATION
[Contents]
[Part 2] System Configuration and Setting (CR750-Q/CR751-Q series, CRnQ-700 series)
[Part 3] System Configuration and Setting (CR750-D/CR751-D series, CRnD-700 series)
[Part 4] Tracking Control (common function between series) ....................................11-48
1 Overview
[Part 1] Overview
1. Overview
1.1. What is the Tracking Function?
The tracking function allows a robot to follow workpieces moving on a conveyer. With this function, it becomes possible to transport, line up and process workpieces without having to stop the conveyer. It also eliminates the need for mechanical fixtures and so forth required to fix workpiece positions.
The features of this function are described below.
1) It is possible to follow lined-up workpieces moving on a conveyer while working on them (conveyer tracking making use of photo electronic sensors).
2) It is possible to follow workpieces that are not in a line moving on a conveyer while working on them, even in the case of different types of workpieces (vision tracking combined with vision sensors).
3) It is possible to follow changes of movement speed due to automatic calculation of conveyer movement speed.
4) Tracking function can be easily achieved by using Mitsubishi’s robot command MELFA-BASIC V.
5) System construction is made easy by use of sample programs.
What is the Tracking Function? 1-1
1 Overview
1.2. Applications
Tracking is primarily intended for applications such as the following.
(1) Transfer of processed food pallets
(2) Lining up parts
Figure
1
1
Example of Processed Food Pallet Transfer
Figure
1
2
Example of Parts Lineup
(3) Assembly of small electrical products
1-2 Applications
Figure
1
3
Example of Small Electrical Products Assembly
1 Overview
1.3. Contents of this manual
This manual explains the operation procedure when the customer use conveyer tracking system and vision tracking system using Mitsubishi robot. The robot model are CR750-Q/CR751-Q/CRnQ-700 series and
CR750-D/CR751-D/CRnD-700 series, however there are H/W differences. Please read as following.
CR750-Q/CR751-Q/CRnQ-700 series
Part.2 System Configuration CR750-Q/CR751-Q/CRnQ-700 series(2~6)
System Configuration/ systemup/ Setting option parts/
Connection to encoder/ Parameter setting
Part.4 Tracking Control(12~21)
Sample program/ Teaching/ Automatic operation/ Trouble shooting
CR750-D/CR751-D/CRnD-700Series
Part.3 System Configuration CR750-D/CR751-D/CRnD-700 series(7~11)
System Configuration/ systemup/ Setting option parts/
Connection to encoder/ Parameter setting
Part.4 Tracking Control(12~21)
Sample program/ Teaching/ Automatic operation/ Trouble shooting
Contents of this manual 1-3
1 Overview
1.4. The generic name and abbreviation
Generic name and abbreviation
Tracking function
Conveyer tracking
Vision tracking
Network vision sensor
Q173DPX unit
Physical encoder number
Logical encoder number
TREN signal
List 1-1 generic name and abbreviation
Contents
The tracking function allows a robot to follow workpieces moving on a conveyer. With this function, it becomes possible to transport line up and process workpieces without having to stop the conveyer.
The conveyer tracking allows a robot to follow workpieces lining up on a conveyer. With this function, it becomes possible to transport, process workpieces.
The vision tracking allows a robot to follow workpieces not lining up on a conveyer. With this function, it becomes possible to transport line up and process workpieces.
The network vision sensor is an option which makes it possible to inspect or find the workpieces by using with robot controller and processing the image.
Q173DRX unit is manual pulser input unit for motion controller. At Q series CPU, it is used as intelligent function unit ( occupation 32 points)
Each encoder figure can be got by connection with 1 pc the manual pulser machine (MR-HDP01) or 3pcs the incremental encoder.
Physical encoder numbers a number of the encoder physically allocated according to a certain rule.
In the CR750-Q/CR751-Q/CRnQ-700 series, the number is allocated by arranging the encoder connected with Q173DPX unit.
The encoder which connected with CH1 of the Q173DPX unit specified for parameter “ENC UNIT1” is the first, the encoder which connected with CH2 is the second and with CH3 is the third.
It becomes from 4 to 6 for the Q173DPX unit specified for parameter”ENCUNIT2”.
It becomes from 7 to 8 for the Q173DPX unit specified for parameter”ENCUNIT3”.
Note) The 3rd set of Q173DPX units can use only the two channels.
The physical encoder number change to the logical encoder number by parameter “EXTENC”. The purpose of this is to change freely number by the parameter for the encoder physically arranged. This logical encoder number is used with the instruction and the state variable of the robot program. tracking enable signal
1-4 The generic name and abbreviation
1 Overview
1.5. System that can achieve
With the tracking function of CR750-Q/CR751-Q/CRnQ-700 series, CR750-D/CR751-D/CRnD-700 series, the example of the system that can be achieved is shown as following.
List 1-2 Example of system that can be achieved by the tracking function
No.
CR750-Q
CR751-Q
CRnQ-700
CR750-D
CR751-D
CRnD-700
Example of the system
1
2
3
4
5
6
7
●
●
●
●
●
●
●
●
●
●
●
●
●
●
When a robot picks the workpieces moving on a conveyer, it is tracking.
( transportation)
When a robot places workpieces which taken out from the pallet to a conveyer, it is tracking (transportation). It is also possible to hang workpieces on S character hook that moves the above of the robot.
A robot decorates (processing) the workpieces moving on a conveyer while tracking.
A robot attaches the parts (assembling) with the workpieces moving on a conveyer while tracking.
A robot has the vision sensor (hand eye) and it checks the workpieces moving on a conveyer. (inspection) It also can check and push the button while tracking, not the vision sensor.
When a robot picks the workpieces moving on a conveyer A, the tracking is done and a robot places the workpieces while tracking to marking on a conveyer B.
The tracking is done with an encoder of line driver (differential motion) output type.
8
In case of multi CPU system, it makes possible to add max 9 pcs
9 two channels can be used at the 3rd set of Q173DPX units.
System that can achieve 1-5
2 System Configuration
[Part 2] System Configuration and Setting (CR750-Q/CR751-Q series,
CRnQ-700 series)
2.1.
Components
2.1.1.
Robot controller enclosure products
The product structure of the tracking functional relation enclosed by the robot controller is shown in the
Table
2
1
List of Configuration in the tracking functional-related product
Product name
Tracking function Manual
Sample program
Model name Remark
BFP-A8664 This manual is included in instruction-manual CD-ROM attached to the product.
Please refer to "12 Sample Robot Programs" for the
sample robot program.
2.1.2.
Devices Provided by Customers
When configuring the system, the customers must have certain other devices in addition to this product. The table below shows the minimum list of required devices. Note that different devices are required depending
on whether conveyer tracking or vision tracking is used. Please refer to “Table 2
by Customers (Conveyer Tracking)” and “Table 2
3 List of Devices Provided by Customers (Vision
Tracking)” for further details.
Table
2
2
List of Devices Provided by Customers (Conveyer Tracking)
Name of devices to be provided by customers
Model Quantity Remark
Robot part
Teaching pendant
Hand
Hand sensor
R32TB/R33TB
or
R56TB/R57TB
1
Solenoid valve set
Hand input cable
Air hand interface
Calibration jig
Encoder pulse unit
See the Remark column
2A-RZ365 or
2A-RZ375
Q173DPX
(1)
More than
1
Used to confirm that workpieces are gripped correctly. Provide as necessary.
Different models are used depending on the robot used. Check the robot version and provide as necessary.
(CRnQ-700/CRnD-700 series controller)
Provide as necessary.
This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks. It is recommended to use the jig if high precision is required. manual pulser input unit for motion controller
[*]
This unit cannot be connected with two or more robot CPU. Please prepare for unit necessary in each robot CPU
Conveyer part
Conveyer
(with encoder)
Photo electronic sensor
24V power supply
1
Encoder:
Voltage output/open collector type
Line driver output
[Confirmed operation product]
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Encoder cable (Recommended product):
2D-CBL05/2D-CBL15
[*]The Q173DPX unit supplies 5V power supply to the encoder.
Used to synchronize tracking
+24 VDC (
10%) : For the Photo electronic sensor
2-6 Components
2 System Configuration
Name of devices to be provided by customers
Personal computer part
Personal computer
RT ToolBox2
(Personal computer support software)
Model
3D-11C-WINE
3D-12C-WINE
Quantity
1
Please refer to the instruction manual of RT
ToolBox2 for the details of the personal computer specifications.
Remark
Table
2
3
List of Devices Provided by Customers (Vision Tracking)
Name of devices to be provided by customers
Model Quantity Remark
Robot part
Teaching pendant
Hand
Hand sensor
R32TB/R33TB
or
R56TB/R57TB
1
Solenoid valve set
Hand input cable
Air hand interface
Calibration jig
See the Remark column
2A-RZ365 or
2A-RZ375
(1)
Used to confirm that workpieces are gripped correctly. Provide as necessary.
Different models are used depending on the robot used. Check the robot version and provide as necessary.
(CRnQ-700/CRnD-700 series controller)
Provide as necessary.
This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks. It is recommended to use the jig if high precision is required.
Encoder pulse unit
Q173DPX
More than
1 manual pulser input unit for motion controller
【
*】This unit cannot be connected with two or more
robot CPU. Please prepare for unit necessary in each robot CPU.
Conveyer part
Conveyer
(with encoder)
Photo electronic sensor
24V power supply
1
Encoder:
Voltage output/open collector type
Line driver output
[Confirmed operation product]
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Encoder cable (Recommended product):
2D-CBL05/2D-CBL15
[*]The Q173DPX unit supplies 5V power
supply to the encoder.
Used to synchronize tracking
+24 VDC (
10%) :
For the Photo electronic sensor and Vision sensor
Vision sensor part
Basic network vision sensor set
4D-2CG5xxxx-PKG
In-Sight 5000 series
In-Sight Micro
In-Sight EZ
Lens
Lighting installation
Connection part
Hub
Ethernet cable (straight)
1
(1)
1
2
See the instruction manual of the network vision sensor for details
COGNEX Vision sensor
C-mount lens
Provide as necessary.
Between Robot controller and Hub
Between Personal computer and Hub
Components 2-7
2 System Configuration
Name of devices to be provided by customers
Personal computer part
Personal computer
Model
RT ToolBox2
(Personal computer support software)
3D-11C-WINE
3D-12C-WINE
Quantity
1
Remark
Please refer to the instruction manual of RT
ToolBox2 or the instruction of the network vision sensor for details of the personal computer specifications.
Please refer to the instruction manual of RT
ToolBox2 for the details of the personal computer specifications.
2-8 Components
2 System Configuration
2.2.
Example of System Configuration
The following figure shows examples of conveyer tracking systems and vision tracking systems.
2.2.1.
Configuration Example of Conveyer Tracking Systems
The following figure shows a configuration example of a system that recognizes lined-up workpieces on a conveyer passing a photo electronic sensor and follows the workpieces.
Robot
Robot movement range
R
Controler
DU
Robot CPU
Q173DPX
Photoelectric sensor
(
Detected the inflow
of the work)
Encoder
(
Detected the speed of the convetor)
Workpieces
Workpieces flow direction
Figure
2
1
Configuration Example of Conveyer Tracking (Top View)
Figure
2
2
Configuration Example of Conveyer Tracking
Example of System Configuration 2-9
2 System Configuration
2.2.2.
Configuration Example of Vision Tracking Systems
The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces.
Robot
Controler
DU
DU
Robot CPU Q173DPX
R
Encode
( Detected the speed
of the convetor)
Workpieces flow direction
Robot movement range
Camera for vision sensors
( Recognized the work
of the position and inclination)
Workpieces
Figure
2
3
Configuration Example of Vision Tracking (Top View)
Figure
2
4
Configuration Example of Vision Tracking
2-10 Example of System Configuration
3 Specification
3. Specification
3.1.
Tracking Specifications and Restriction matter
1 CR750-Q/CR751-Q Series, CRnQ-700 Series Controller Tracking Function Specifications”
shows the tracking specifications.
Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be used.
Table
3
1 CR750-Q/CR751-Q Series, CRnQ-700 Series Controller
Tracking Function Specifications
Item Specification and Restriction matter
Supported robots (*8) RH-SQH series / RV-SQ series
RH-FH-Q series / RV-F-Q series
Applicable robot controller CR1Q / CR2Q / CR3Q controller
CR750-Q/CR751-Q series controller
Robot program language Load commands dedicated for the tracking function
Conveyer Number of conveyer
(*6)
Movement
Speed (*1)
Max 8pcs (in case 1pc encoder connect to 1 pc conveyer)
Encoder 3 pcs / Q173DPX unit 1pc
Q173DPX unit 3pcs / system
Possible to support up to 300mm/s (When the robot always transport the workpieces)
Possible to support up to 500mm/s when the interval of workpiece is wide.
Encoder Output
: A
、
A
、
B
、
B
、
Z
、
Z
Output form : Voltage output/open collector type (*7)
Line driver output (*2)
Resolution(pulse/rotation)) : Up to 2000 (4000 and 8000 uncorrespond))
Confirmed operation product : Omuron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Encoder cable Option:
2D-CBL05(External I/O cable 5m)
2D-CBL15(External I/O cable 15m)
Conductor size: AWG#28
Encoder unit Only Q173DPX unit
[*] Two or more robots CPU cannot share one Q173DPX.
One Q173DPX is necessary for each robot CPU.
Photoelectronic sensor
Vision sensor(*4)
Precision at handling
position (*5)
(*3)
Used to detect workpieces positions in conveyer tracking.
Output signal of sensor need to be connected to TREN terminal of
Q173DPX unit. (Input signal number 810~817)
And a momentary encoder value that the input enters is preserved in state variable "M_EncL".
Mitsubishi’s network vision sensor
Approximately
2 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, vision sensor recognition accuracy, robot repeatability accuracy and so on)
( *1) The specification values in the table should only be considered guidelines. The actual values depend on the specific operation environment, robot model, hand and other factors.
( *2) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the long-distance transmission.
(
*3) Please connect the output signal of a photoelectric sensor with the terminal TREN of the Q173DPX unit. This input can be confirmed,by the input signal 810th-817th.
(
*4) In the case of vision tracking, please refer to the instruction manual of network vision sensor.
(
*5) The precision with which workpieces can be grabbed is different from the repeatability at normal transportation due to the conveyer speed, sensor sensitivity, vision sensor recognition accuracy and other factors. The value above should only be used as a guideline.
(
*6) The encoder connected with the third channel of the Q173DPX unit specified for parameter
"ENCUNIT3" cannot be used.
(
*7) Voltage output/open collector type is an output circuit with two output transistors of NPN and PNP.
( *8) The sample program doesn't correspond to the RV-5 axis robot.
Tracking Specifications and Restriction matter 3-11
4 Operation Procedure
This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750-Q/CR751-Q series, CRnQ-700 series.
1. Start of operation
2. Connection of Equipment ······················································································Refer to “Chapter 5.”
It explains Q173DPX (manual pulser input) unit preparation and the connection with the encoder.
Chapter 6 explains assignment of signals and setting of parameters related to tracking to allow an external device to control a robot.
4. Sample Robot Programs ·····················································································Refer to “Chapter 12.”
Chapter 12 explains functions related to supplemental sample programs.
5. Calibration of Conveyer and Robot Coordinate Systems (“A1” program)···········Refer to “Chapter 13.”
Chapter 13 explains how to calculate the amount of robot movement per encoder pulse.
6. Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program) ····Refer to “Chapter 14.”
Chapter 14 explains how to display the position of a workpiece recognized by the vision sensor in the robot coordinate system.
7. Workpiece Recognition and Teaching (“C1” program)········································Refer to “Chapter 15.”
Chapter 15 explains how to calculate the relationship between the position of a workpiece recognized by the vision sensor and the position at which the robot grabs the workpiece.
8. Teaching and Setting of Adjustment Variables (“1” Program)·····························Refer to “Chapter 16.”
Chapter 16 explains how to make settings such that the robot can follow workpieces moving by on a conveyer and how to teach the robot origin and transportation destination at system start-up.
In automatic operation, the robot operates via commands from the conveyer control.
End of operation
10. Maintenance ········································································································Refer to “Chapter 19.”
11. Troubleshooting ·································································································Refer to “Chapter 20.”
4-12 Tracking Specifications and Restriction matter
5 Connection of Equipment
5.
Connection of Equipment
This section explains how to connect each of the prepared pieces of equipment.
5.1.
Preparation of Equipment
Prepare equipment by referring to “Table 2
2 List of Devices Provided by Customers (Conveyer Tracking)”
to construct a conveyer tracking system and “Table 2
3 List of Devices Provided by Customers (Vision
Tracking)” to construct a vision tracking system.
Preparation of Equipment 5-13
5 Connection of Equipment
5.1.1.
Q173DPX(
manual pilser input) unit specification
Add Q173DPX unit into PLC base unit ( Q3□DB ) when the customer use CR750-Q/CR751-Q series,
CRnQ-700 series tracking function. Please refer to
"Q173DCPU/Q172DCPU user's manual" about details of this unit.
(1) External and name of Q173DPX unit
Figure
5
1
Externals of Q173DPX unit
5-14 Preparation of Equipment
(2) Dip switch
By setting the dip switch, the condition of the tracking enable signal is decided.
List 5-1 Item of dip switch
5 Connection of Equipment
Preparation of Equipment 5-15
5 Connection of Equipment
(3) Specification of hardware
5-16 Preparation of Equipment
7.1ms
5 Connection of Equipment
(4) Wiring
The pin layout of the Q173DPX PULSER connecter viewed from the unit is shown below.
Figure
5
2 Pin assignment of the PULSER connector
Preparation of Equipment 5-17
5 Connection of Equipment
Interface between PULSER connecter and manual pulse generator (Differential-output type)/ Incremental synchoronous encoder
Figure
5
3 Wiring connection with rotary encoder
As above image, because DC5V voltage is output from Q173DPX unit, it makes possible to supply 5V from
Q173DPX unit to rotary encoder. When 24V encoder type of power supply is used, it makes possible to use
24V output from PLC power unit.
5-18 Preparation of Equipment
5 Connection of Equipment
The interface between tracking enable signal is shown follow.
This signal is used for input signal when the photoelectronic
sensor is used to find workpieces so please connect output signal of photoelectronic
sensor.
Figure
5
4 Connected composition of tracking enable signal
Preparation of Equipment 5-19
5 Connection of Equipment
5.2. Connection of Equipment
The connection with each equipments is explained as follow.
5.2.1.
Connection of Unit
Q173DPX unit is connected to base unit (Q3□DB) or Q6□B increase base unit.
Figure
5
5 Connected composition of units
The connection robot system with Q173DPX unit is shown as follow.
List 5-2 Spec list of Q173DPX in robot system
Item Spec and Remark
Encoder
Tracking input points
Incremental synchronous encoder 3pcs
3points
Three points can be input to ± TREN1-3 in the pin assignment of the unit.
When the input of a photoelectric sensor is put, this input is used.
Slot that can be connected Connection with the base unit Possible to install I/O slot since 3
(Impossible to install CPU slot or I/O slot 0 to 2)
Robot CPU unit that can be managed
Connection with additional base unit Possible to install all slots.
Q173DPX unit 3pcs
Robot CPU encoder that can be managed
Max 8pcs
Impossible to use the third channel of the third Q173DPX unit.
And impossible to use the encoder connected with the third channel of the unit specified for parameter「ENCUNIT3」.
5-20 Connection of Equipment
5 Connection of Equipment
5.2.2.
Connection with encoder for conveyer and encoder cable
E6B2-CWZ1X (made by Omron) is used, and the wiring for the encoder and the encoder cable for the conveyer is shown in "Figure 5-2 the encoder for the conveyer and the wiring diagram of the encoder cable".
The encoder for the conveyer up to 3 pcs can be connected per Q173DP unit 1pc. The signal cabels needed in case of the connection are power supply (+、-) and encoder A,B,Z each +、-, total 8 cables.
Please refer to the manual of the encoder, please connect signal cable correctly. Also please ground shield line (SLD).
Pin assignment of the
PULSER connector
A19 SG
B19 SG
A18 HPSEL1
B18 5V
A17 HA1P
B17 HA1N
A16 HB1P
B16 HB1N
A14 SG
B14 SG
A13 HPSEL2
B13 5V
A12 HA2P
B12 HA2N
A11 HB2P
B11 HB2N
A4 TREN1+
B4 TREN1-
A3 TREN2+
B3 TREN2-
Twisted-pair cable
SLD
Blue(+0V)
Brown(+5V)
Twisted-pair cable
Black
Black/Red stripe
White
White/Red stripe
SLD
Blue(+0V
Brown(+5V)
Black
Black/Red stripe
White
White/Red stripe
External power supply
Ex.)Omuron
E6B2-CWZ1X
Photoelectric sensor
(Example of 3 line type)
24V
0V
24V
0V
エンコーダ
Ex.)Omuron
E6B2-CWZ1X
エンコーダ
Photoelectric sensor
(Example of 3 line type)
Figure
5
6 the encoder for the conveyer and the wiring diagram of the encoder cable
2 Pin assignment of the PULSER connector" with the pin crack of the PULSER
connector that arrives at the unit.
Connection of Equipment 5-21
5 Connection of Equipment
The wiring example by the thing is shown below.
(Please note that the connector shape is different depending on the controller. )
Figure
5
7 Wiring example (CR75x-Q/ CRnQ-700 series controller)
5-22 Connection of Equipment
5 Connection of Equipment
5.2.3.
Connection of Photoelectronic Sensor
If a photoelectronic sensor is used for detection of workpieces, connect the output signal of the photoelectronic sensor to a tracking enable signal of the Q173DPX unit.
In this section, a connection example where the photoelectronic sensor signal is connected to the tracking enable signal is shown in “
Controller
Input circuit external power supply
Connects to the tracking enable signal of the Q173DPX unit.
Photoelectric sensor
Workpiece
Figure
5
8
Photoelectronic Sensor Arrangement Example
Q173DPX PULSER connector
TREN1+
B4
TREN1-
A4
24V
0V
Photoelectric sensor
(Example of 3 line type)
External power supply
Figure
5
9
Photoelectronic Sensor Connection Example (6th General Input Signal is Used)
Note) The external power supply and photoelectric sensor must be prepared
Connection of Equipment 5-23
5 Connection of Equipment
The tracking enable signal is connected to the robot input signal as follows.
Encoder physics number
1
List 5-3 List with signal crack of tracking enable signal (TREN)
CR750-Q/CR751-Q series,
CRnQ-700 series
1 st
Connection channel
channel of Parameter
ENCUNIT1
2 2 nd
channel
3 3 rd
channel
4
1 st
channel of Parameter
ENCUNIT2
5 2 nd
channel
6 3 rd
channel
7
1 st
channel of Parameter
ENCUNIT3
8 2 nd
channel
Robot Input signal number
810
811
812
813
814
815
816
817
5-24 Connection of Equipment
6 Parameter Setting
This chapter explains how to set dedicated input/output signals that play the role of interface between a robot and an external device (e.g., a Programmable Logic Controller) and parameters related to the tracking function.
Please refer to “Detailed Explanations of Functions and Operations” for how to set the parameters.
6.1.
Dedicated Input/Output Parameters
1 List of Dedicated Input/Output Parameters” lists the setting items of dedicated input/output
parameters used to operate the robot via instructions from an external device. Set the signal numbers according to your system using the setting values in the table as reference. It is not necessary to set these parameters
if the robot operates by itself, rather than via instructions from an external device.
Table
6
1
List of Dedicated Input/Output Parameters
Input name/output name
(parameter name)
Explanation
Setting
Example
(*1)
Stop/pausing
(STOP) or (STOP2)
Servo OFF/servo ON disabled
(SRVOFF)
Error reset/error occurring
(ERRRESET)
Start/operating
(START)
Servo ON/turning servo ON
(SRVON)
Operation right/operation right enabled (IOENA)
Program reset/program selectable
(SLOTINIT)
General output signal reset
(OUTRESET)
User specification area 1
(USRAREA)
Input: Stop a program
Output: Output program standby status
Input: Turn the servo off
Output: Output servo ON disabled status
Input: Cancel error status
Output: Output error status
Input: Start automatic operation
Output: Output program running status
Input: Turn the servo on
Output: Output servo on status
Input: Enable/disable operation right of external signal control
Output: Output external signal control operation enabled status
Input: Initiate a program. The program execution returns to the first step.
Output: Output a status where program No. can be changed
Input: Reset a general output signal
Output an indication that the robot is in an area specified by a user
Set the start number and end number
10000 ,
-1
10011 ,
-1
10009 ,
-1
10006 ,
1
10010 ,
0
10005 ,
-1
10008 ,
-1
10015 ,
-1
10064,
10071
(*1) “-1” in the Setting value column means “not set.”
6.2.
Operation Parameters
the optimal acceleration/deceleration.
Table
6
2
List of Operation Parameter
Reference value Parameter name
Optimal acceleration/ deceleration hand data
(HANDDAT1)
Optimal acceleration/ deceleration workpiece data
(WRKDAT1)
Explanation
Specify hand weight and so on to make settings that allow optimal acceleration/deceleration operations.
For example, if the hand weighs 3 kg, changing the weight setting value from 10 kg to 3 kg makes the robot movement faster.
(Hand weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
Specify workpiece weight and so on to make settings that allow optimum acceleration/deceleration operations.
If a workpiece is grabbed via the HClose instruction, the acceleration/deceleration becomes slower. If a workpiece is released via the HOpen instruction, acceleration/deceleration becomes faster.
(Workpiece weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(3,0,0,0,0,0,0)
The setting values are different for each robot model.
Use these values
as reference only.
(1,0,0,0,0,0,0)
The setting values are different for each robot model.
Use these values as reference only.
Dedicated Input/Output Parameters 6-25
6 Parameter Setting
6.3. Tracking Parameter Setting
Specify to which channel of the encoder connector (CNENC) an encoder of conveyer is connected.
“Table 6-3 Tracking Parameter Setting” lists the parameters to be set. Other parameters are shown in “Table
21-1 List of Tracking Parameters”, make settings as required.
6.3.1.
Robot Parameter Setting
After the installation of Q173DPX module and connection with the encoder are complete, use the following steps to establish robot CPU parameters.
(1) Using parameter ENCUNT* (*=1~3), designate the slot in which Q173DPX module under the control of robot
CPU is installed.
(2) Change the number of the incremental synchronization encoder being physically wired into a logic number, using parameter EXTENC.
Table 6-3 Tracking Parameter Setting
Parameter
Parameter name
Number of elements
Explanation
0
Value set at factory shipping
Tracking mode TRMODE first Q173DPX ENCUNIT1
1 integer Enable the tracking function
Please set it to “1" when you use the tracking function.
0: Disable/1: Enable
The base unit-number of the first Q173DPX unit
(element 1) that robot CPU manages and slot number (element 2) are set.
【
Element 1】
-1 :No connection
-1,0
Second
Q173DPX
ENCUNIT2
0 :Basic base unit
1~7 :Increase base unit
【
Element 2】
0~11 : I/O Slot number
* This parameter is valid in the following
software versions.
・
CRnQ-700 series: Ver. R1 or later
The base unit-number of the second Q173DPX unit (element 1) that robot CPU manages and slot number (element 2) are set.
【
Element 1】
-1
:No connection
0
:Basic base unit
~7 :Increase base unit
-1,0 third Q173DPX ENCUNIT3
【
Element 2】
0~11
: I/O slot number
* This parameter is valid in the following
software versions.
・
CRnQ-700 series: Ver. R1 or later
The base unit-number of the third Q173DPX unit
(element 1) that robot CPU manages and slot number (element 2) are set.
【
Element 1】
-1
:No connection
0
:Basic base unit
~7 :Increase base unit
【
Element 2】
0~11
: I/O slot number
* This parameter is valid in the following
software versions.
・
CRnQ-700 series: Ver. R1 or later
-1,0
6-26 Tracking Parameter Setting
6 Parameter Setting
Parameter
Encoder number allocation
Tracking
Workpiece judgement distance
Parameter name
Number of element
Explanation
EXTENC 8 integers
Set connection destinations on the connector for encoder numbers 1 to 8.
Parameter elements correspond to encoder number
1, encoder number 2 … encoder number 8 from the left.
Setting value is iuput encoder physics number from below list.
In case of CR750-D/CR751-D and CRnD-700 series, CH1 and CH2 of slot 1 to 3 are reservation.
At present, it cannot be used.
【
In case of CR750-Q/CR751-Q, CRnQ-700 series】
Encoder Connection channel physics number
1 st
(CR750-Q/CR751-Q,
CRnQ-700 series)
channel of Parameter
1
ENCUNIT1
2 2 nd
channel
3 3 rd
channel
4
1 st
channel of Parameter
5 2
ENCUNIT2 nd
channel
6 3 rd
channel
7
1 st
channel of Parameter
ENCUNIT3
8 2 nd
channel
It is convenient to check the status variable
“M_Enc” when determining the setting value of the
“EXTENC” parameter.
Please refer to "19.1.2 List of Robot Status
Variables” for the explanation of state variable
“M_Enc".
Please refer to “Detailed Explanations of Functions and Operations” for how to check the status
Value set at factory shipping
1,2,3,4,
5,6,7,8
TRCWDST 1 integer
Distance to judge that the same workpiece is being tracked (mm)
The sensor reacts many times when the workpiece with the ruggedness passes the sensor. Then, the robot controller judged that one workpiece is two or more pieces.
The sensor between values [mm] set to this parameter does not react after turning on the sensor.
To set the measure of workpieces flow is recommended.
5.00
Tracking Parameter Setting 6-27
6 Parameter Setting
6.3.2.
Sequencer CPU Parameter Setting
It is necessary to set multi CPU related parameters for both the sequencer CPU and robot CPU In order to use the sequencer link function.
a) Multiple CPU setting : Set the number of CPU units.
b) I/O assignment : Select I/O units and/or Intelligent units.
c) Control PLC setting : Set the CPU Unit numbers which control the Q173DPX unit.
The setting procedure of the parameter is as below.
The following explanation assumes the case that attached Q173DPX unit to the fifth slot of baseboard.
(1) Execute the GX Works2 and select the project file.
(2) Double-click the “PLC Parameter”, then the “Q Parameter Setting” is displayd.
6-28 Tracking Parameter Setting
6 Parameter Setting
(3) Double-click the “Multiple CPU Setting”
Set the number of CPU and this system area size (K Points)
(4) Double-click the “I/O assignment”
When Q173DPX unit is attached to fifth slot, change the type of slot 5 to the “Intelligent”.
Tracking Parameter Setting 6-29
6 Parameter Setting
(5) Click the “Detailed Setting” button.
Because the robot CPU manages the Q173DPX unit, change the Control PLC of slot 5 to the
“PLC No.2” (Robot CPU).
6) Click the “END” button.
The Parameters are memorized into the sequencer CPU.
The following work is confirming the operation of the robot by the sample program.
Please confirm "[Part 4] Tracking Control".
6-30 Tracking Parameter Setting
7 System Configuration
[Part 3] System Configuration and Setting (CR750-D/CR751-D series,
CRnD-700 series)
7.1.
Components
7.1.1.
Robot controller enclosure products
The product structure of the tracking functional relation enclosed by the robot controller is shown in the
Table
7
1
List of Configuration in the tracking functional-related product
Product name
Tracking function Manual
Sample program
Model name Remark
BFP-A8664 This manual is included in instruction-manual CD-ROM attached to the product.
Please refer to "12 Sample Robot
Programs" for the sample robot program.
7.1.2.
Devices Provided by Customers
When configuring the system, the customers must have certain other devices in addition to this product. The table below shows the minimum list of required devices. Note that different devices are required depending
on whether conveyer tracking or vision tracking is used. Please refer to “Table 2
by Customers (Conveyer Tracking)” and “Table 2
3 List of Devices Provided by Customers (Vision
Tracking)” for further details.
Table
7
2
List of Devices Provided by Customers (Conveyer Tracking)
Name of devices to be provided by customers
Model Quantity Remark
Robot part
Teaching pendant
Hand
Hand sensor
R32TB/R33TB
or
R56TB/R57TB
1
Solenoid valve set
Hand input cable
Air hand interface
Calibration jig
See the Remark column
2A-RZ365 or
2A-RZ375
(1)
Used to confirm that workpieces are gripped correctly. Provide as necessary.
Different models are used depending on the robot used. Check the robot version and provide as necessary.
(CRnQ-700/CRnD-700 series controller)
Provide as necessary.
This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks. It is recommended to use the jig if high precision is required.
Conveyer part
Conveyer
(with encoder)
5V power supply
Photoelectronic sensor
24V power supply
1
Encoder:
Line driver output
[Confirmed operation product]
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Encoder cable. Twisted-pair cable with the shield.
(CRnD-700 series controller)
Recommended connector for encoder input terminal:
10120-3000PE plug made by 3M
10320-52F0-008 shell made by 3M
+5 VDC (
10%) : For the encoder
Used to synchronize tracking
+24 VDC (
10%) : For the Photoelectronic sensor
Components 7-31
7 System Configuration
Name of devices to be provided by customers
Personal computer part
Personal computer
RT ToolBox2
(Personal computer support software)
Model
3D-11C-WINE
3D-12C-WINE
Quantity
1
Please refer to the instruction manual of RT
ToolBox2 for the details of the personal computer specifications.
Remark
Table
7
3
List of Devices Provided by Customers (Vision Tracking)
Name of devices to be provided by customers
Model Quantity Remark
Robot part
Teaching pendant
Hand
Hand sensor
R32TB/R33TB
or
R56TB/R57TB
1
Solenoid valve set
Hand input cable
Air hand interface
Calibration jig
See the Remark column
2A-RZ365 or
2A-RZ375
(1)
Used to confirm that workpieces are gripped correctly. Provide as necessary.
Different models are used depending on the robot used. Check the robot version and provide as necessary.
(CRnQ-700/CRnD-700 series controller)
Provide as necessary.
This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks. It is recommended to use the jig if high precision is required.
Conveyer part
Conveyer
(with encoder)
5V power supply
Photoelectronic sensor
24V power supply
1
Encoder:
Line driver output
[Confirmed operation product]
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Encoder cable.
Twisted-pair cable with the shield.
(CRnD-700 series controller)
Recommended connector for encoder input terminal:
10120-3000PE plug made by 3M
10320-52F0-008 shell made by 3M
+5 VDC (
10%) : For the encoder
Used to synchronize tracking
+24 VDC (
10%) :
For the Photoelectronic sensor and Vision sensor
Vision sensor part
Basic network vision sensor set
In-Sight 5000 series
In-Sight Micro series
In-Sight EZ series
Lens
Lighting installation
Connection part
Hub
Ethernet cable (straight)
4D-2CG5xxxx-PK
G
1
(1)
1
2
See the instruction manual of the network vision sensor for details
COGNEX Vision sensor
C-mount lens
Provide as necessary.
Between Robot controller and Hub
Between Personal computer and Hub
7-32 Components
7 System Configuration
Name of devices to be provided by customers
Personal computer part
Personal computer
RT ToolBox2
(Personal computer support software)
Model
3D-11C-WINE
3D-12C-WINE
Quantity Remark
1
Please refer to the instruction manual of RT
ToolBox2 or the instruction of the network vision sensor for details of the personal computer specifications.
Please refer to the instruction manual of RT
ToolBox2 for the details of the personal computer specifications.
Components 7-33
7 System Configuration
7.2.
Example of System Configuration
The following figure shows examples of conveyer tracking systems and vision tracking systems.
7.2.1. Configuration Example of Conveyer Tracking Systems
The following figure shows a configuration example of a system that recognizes lined-up workpieces on a conveyer passing a photoelectronic sensor and follows the workpieces.
Robot
Controller
R
Photoelectric sensor
(
Detected the inflow
of the work.)
Encoder
(
Detected the speed
of the conveyor.)
Workpieces flow direction
Robot movement range
Workpieces
Figure
7-1
Configuration Example of Conveyer Tracking (Top View)
Paraller I/O cable
24V power supply
Photoelectric sensor
Conveyor
Vacuum hand
Flow direction
Controller
Example of CR2D controller
*It is the same by other controller
5V power supply
Encoder cable
Figure
7-2
Configuration Example of Conveyer Tracking
Robot arm
Encoder
7-34 Example of System Configuration
7 System Configuration
7.2.2.
Configuration Example of Vision Tracking Systems
The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces.
Robot
Controller
R
Encoder
(
Detected the speed
of the conveyor.)
Workpieces flow direction
Robot movement range
Workpieces
Camera for vision sensors
(Recognized the work of the position and inclination)
Figure
7
3
Configuration Example of Vision Tracking (Top View)
Ethernet cable
Hub
Personal computer
Ethernet cable
Controller
24V power supply
Example of CR2D controller
*It is the same by other controller.
Cable for the visions
Vision sensor
Lighting
Vacuum hand
Robot arm
Encoder
Flow direction
5V power supply
Encoder cable
Figure
7
4
Configuration Example of Vision Tracking
Example of System Configuration 7-35
8 Specification
8. Specification
8.1.
Tracking Specifications and Restriction matter
1 CR750-Q/CR751-Q Series, CRnQ-700 Series Controller Tracking Function Specifications”
shows the tracking specifications.
Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be used.
Table
8
1 CR750-D/CR751-D Series, CRnD-700 Series
Tracking Function Specifications
Item Specification and Restriction matter
Supported robots (*6) RH-SDH series / RV-SD series
RH-FH-D series / RV-F-D series
Applicable robot controller CR1D/ CR2D/CR3D contoller
CR750-D/CR751-D series controller
Robot program language Load commands dedicated for the tracking function
Conveyer
Number of Max 2pcs (in case 1pcs encoder connect to 1pcs conveyer) conveyer Encoder 2pcs / Robot controller 1pcs
The robot controller can correspond to two conveyers by the standard
Movement speed (*1) specification.
Possible to support up to 300 mm/s (When the robot always transport the workpieces)
Possible to support up to 500 mm/s when the interval of workpiece is wide.
Possible to support two conveyers by one Robot controller.
Encoder
Precision at handling position (*5)
Output aspect : A, A , B, B , Z, Z
Output form : line driver output (*2)
Highest response frequency : 100 kHz
Resolution(pulse/rotation) : Up to 2000 (4000 and 8000 uncorrespond)
Confirmed operation product : Omron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Encoder cable Shielded twisted-pair cable
Outside dimension : Maximum phi6mm
Conductor size: 24AWG (0.2 mm
2
) Cable length: Up to 25 m
Photoelectronic sensor (*3) Used to detect workpieces positions in conveyer tracking.
Vision sensor (*4) Mitsubishi’s network vision sensor
Approximately
2 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition accuracy, vision sensor recognition accuracy, robot repeatability accuracy and so on)
(
*1) The specification values in the table should only be considered guidelines. The actual values depend on the specific operation environment, robot model, hand and other factors.
(
*2) The line driver output is a data transmission circuit in accordance with RS-422A. It enables the long-distance transmission.
(
*3) The output signal of a photoelectronic sensor must be connected to a general input signal (arbitrary) of the robot controller.
(
*4) In the case of vision tracking, please refer to the instruction manual of network vision sensor.
( *5) The precision with which workpieces can be grabbed is different from the repeatability at normal transportation due to the conveyer speed, sensor sensitivity, vision sensor recognition accuracy and other factors. The value above should only be used as a guideline.
(
*6) The sample program doesn't correspond to the RV-5 axis robot.
8-36 Tracking Specifications and Restriction matter
9 Operation Procedure
This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750-D/CR751-D series, CRnD-700 series.
1. Start of operation
2. Connection of Equipment ····················································································Refer to “Chapter 10.”
Chapter 10 explains installation of option cards and connection of an encoder.
Setting································································································Refer to “Chapter 11.”
Chapter 11 explains assignment of signals and setting of parameters related to tracking to allow an external device to control a robot.
4. Sample Robot Programs ·····················································································Refer to “Chapter 12.”
Chapter 12 explains functions related to supplemental sample programs.
5. Calibration of Conveyer and Robot Coordinate Systems (“A1” program)···········Refer to “Chapter 13.”
Chapter 13 explains how to calculate the amount of robot movement per encoder pulse.
6. Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program) ····Refer to “Chapter 14.”
Chapter 14 explains how to display the position of a workpiece recognized by the vision sensor in the robot coordinate system.
7. Workpiece Recognition and Teaching (“C1” program)········································Refer to “Chapter 15.”
Chapter 15 explains how to calculate the relationship between the position of a workpiece recognized by the vision sensor and the position at which the robot grabs the workpiece.
8. Teaching and Setting of Adjustment Variables (“1” Program)·····························Refer to “Chapter 16.”
Chapter 16 explains how to make settings such that the robot can follow workpieces moving by on a conveyer and how to teach the robot origin and transportation destination at system start-up.
Operation ····························································································Refer to “Chapter 18.”
In automatic operation, the robot operates via commands from the conveyer control.
End of operation
10. Maintenance ········································································································Refer to “Chapter 19.”
11. Troubleshooting ·································································································Refer to “Chapter 20.”
Tracking Specifications and Restriction matter 9-37
10 Connection of Equipment
10.
Connection of Equipment
This section explains how to connect each of the prepared pieces of equipment.
10.1.
Preparation of Equipment
Prepare equipment by referring to “Table 2
2 List of Devices Provided by Customers (Conveyer Tracking)”
to construct a conveyer tracking system and “Table 2
3 List of Devices Provided by Customers (Vision
Tracking)” to construct a vision tracking system.
10.2. Connection of Equipment
This section explains how to connect each of the prepared pieces of equipment.
10.2.1. Connection of Conveyer Encoder
Wiring of the encoder for the conveyors and the encoder cable is shown in the "Figure 10
3” (CR750-D/CR751-D series). Those shows the connection between a Expansion
serial interface card connector and an encoder.(The cable uses E6B-2-CWZ1X (by OMRON).)
The a maximum of two encoders for the conveyors are connectable as standard specification. A total of 8 signal wires are required for the connection for the power supply (+ and - terminals) and the + and - terminals of the differential encoders' A, B and Z phases. Refer to the instruction manual of the encoders to be used and connect the signal wires correctly. Note that shielded wires (SLD) should be connected to the ground of the controller and system.
CAUTION
Be sure to mount ferrite cores on all encoder cables.
Be sure to mount the ferrite cores on the encoder cables at a position near the robot controller. If ferrite cores are not mounted, the robot may malfunction due to the influence
of noise.
CAUTION
There is one robot controller connectable with the one encoder.
If two or more robot controllers are connected to the one encoder, the waveform of the encoder falls and the exact encoder value may be unable to be acquired.
10-38 Preparation of Equipment
10 Connection of Equipment
+5V power supply unit
CNENC connector
CH1 1A
1B
2A
2B
3A
3B
4A
4B
Terminal
CH1 SG
SG
LAH1
LAL1
LBH1
LBL1
LZH1
LZL1
Brown(+5V)
Blue(+0V)
SLD
Black
Black/Red stripe
White
White/Red stripe
Orange
Orange/Red stripe
Ferrite core
Encorder
+5V power supply unit
SLD
Brown(+5V)
CH2 5A
5B
6A
6B
7A
7B
8A
8B
CH2 SG
SG
LAH2
LAL2
LBH2
LBL2
LZH2
LZL2
Blue(+0V)
Black
Black/Red stripe
White
White/Red stripe
Orange
Orange/Red stripe
Ferrite core
Encorder
Figure
10
1
Wiring of the encoder for conveyors and encoder cable (CRnD-700 series controller)
3 Connectors: CNENC/CNUSR Pin Assignment" with pin assignment of connector
CNENC.
The wiring example by the thing is shown below.
(Please note that the connector shape is different depending on the controller. )
5V 電源
Figure
10
2 Wiring example (CRnD-700 series controller)
Connection of Equipment 10-39
10 Connection of Equipment
Figure
10
3
Wiring of the encoder for conveyors and encoder cable (CR750-D/CR751-D series controller)
3 Connectors: CNENC/CNUSR Pin Assignment" with pin assignment of connector
CNUSR.
The wiring example by the thing is shown below.
(Please note that the connector shape is different depending on the controller. )
Figure
10
4 Wiring example (CR751-D series controller)
5V 電源
5V 電源
Figure
10
5 Wiring example (CR750-D series controller)
10-40 Connection of Equipment
10 Connection of Equipment
10.2.2. Installation of encoder cable
The installation method of the encoder cable is shown by controller to be used.
*CR750-D series: "Figure 10-6 Installation of encoder cable (CR750-D series) "
*CR751-D series: "Figure 10-7 Installation of encoder cable (CR751-D series)"
*CR1D-700 series: "Figure 10-8 Installation of encoder cable (CR1D-700 series) "
*CR2D-700 series: "Figure 10-9 Installation of encoder cable (CR2D-700 series) "
*CR3D-700 series: "Figure 10-10 Installation of encoder cable (CR3D-700 series) "
(1)CR750-D series
CNUSR11 connector
CNUSR12 connector
CNUSR13 connector
25
50
Figure 10-6 Installation of encoder cable (CR750-D series)
26
1
Connection of Equipment 10-41
10 Connection of Equipment
(2)CR751-D series
25
50
26
1
Figure 10-7 Installation of encoder cable (CR751-D series)
(3)CR1D-700 series
Connect the encoder cable to the connector of the [CNENC] display. And, the ground of the cable uses the rear cover.
10B
10A
1B
1A
Connector:CNENC
Less than 300mm
Cable ground clamp position *1
(ground clamp attachments)
Rear cover
Ferrite core
(attachments)
Encoder cable
Figure 10-8 Installation of encoder cable (CR1D-700 series)
10-42 Connection of Equipment
10 Connection of Equipment
(4)CR2D-700 series
Connect the encoder cable to the connector of the [CNENC] display. And, the ground of the cable uses the rear cover.
Rear cover
10B 10A
Less than 300mm
Encoder cable
1B
1A
Connector:CNENC
Ferrite core
(attachments)
Cable ground clamp position *1
(ground clamp attachments)
Figure 10-9 Installation of encoder cable (CR2D-700 series)
(5)CR3D-700 series
Connect the encoder cable to the connector of the [CNENC] display. And, the ground of the cable uses the rear cover.
R700CPU unit
10B
10A
1B
1A
Less than
300mm
Connector:CNENC
Ferrite core
(attachments)
Cable ground clamp position *1
(ground clamp attachments)
*1)
ケーブルアースクランプ位置
エンコーダケーブルはシースを剥いて金属製ブレード部を筐体に接地します。
20~30mm
Metal section
Sheath
Figure 10-10 Installation of encoder cable (CR3D-700 series)
Connection of Equipment 10-43
10 Connection of Equipment
(3)Measures against the noise
The example of noise measures of the tracking system is shown in the following.
Please implement the measures against the noise if needed in the power supply periphery section for the encoders which prepared of the customer.
1) Please insert AC line filter (recommendation: MXB-1210-33 * Densei-Lambda) in the AC input side cable of the power supply for the encoders.
2) Please insert the ferrite core (recommendation: E04SR301334 * SEIWA ELECTRIC MFG.) in the DC output side cable of the power supply for the encoders.
3) Please connect the power supply case for the encoders to the installation operator control panel, connect the earth wire to grounding or the case, and insert the ferrite core (recommendation:
E04SR301334 * SEIWA ELECTRIC MFG.).
Encoder section, power supply section for the encoders
(customer preparation)
AC power supply
Robot arm
Encoder
AC input side
AC/DC power supply
AC line filter
Chassis ground
Robot controller
Relay terminal
DC input side
Ferrite core
Ferrite core
Ferrite core
(attachments
)
Encoder cable
(customer preparation)
Figure
10-11 Example of noise measures of tracking system
10-44 Connection of Equipment
10 Connection of Equipment
10.2.3. Connection of Photoelectronic Sensor
If a photoelectronic sensor is used for detection of workpieces, connect the output signal of the photoelectronic sensor to a general input signal of the robot controller. Any general input signal number of the robot controller can be selected.
In this section, a connection example where the photoelectronic sensor signal is connected to the 6th
general input signal is shown in “Figure 10
13 Photoelectronic Sensor Connection Example (6th General
Input circuit external power supply
Controller
Connects to the controller general purpose input
Photoelectric sensor
Workpiece
Figure
10
12
Photoelectronic Sensor Arrangement Example
Controller general-purpose input
Photoelectric sensor
(Example of 3 line type)
Parallel I/O unit
24V
3.3K
21(General-purpose input 6)
14 (COM)
24V
External power supply
0V
Note) The external power supply and photoelectric sensor must be prepared by the customer.
Note) This connection example shows the connection of the source type.
Figure
10
13
Photoelectronic Sensor Connection Example (6th General Input Signal is Used)
Connection of Equipment 10-45
11 Parameter Setting
11. Parameter Setting
This chapter explains how to set dedicated input/output signals that play the role of interface between a robot and an external device (e.g., a Programmable Logic Controller) and parameters related to the tracking function.
Please refer to “Detailed Explanations of Functions and Operations” for how to set the parameters.
11.1.
Dedicated Input/Output Parameters
1 List of Dedicated Input/Output Parameters” lists the setting items of dedicated input/output
parameters used to operate the robot via instructions from an external device. Set the signal numbers according to your system using the setting values in the table as reference. It is not necessary to set these parameters
if the robot operates by itself, rather than via instructions from an external device.
Table
11
1
List of Dedicated Input/Output Parameters
Input name/output name
(parameter name)
Explanation
Setting
Example
(*1)
Stop/pausing
(
STOP) or (STOP2)
Servo OFF/servo ON disabled
(
SRVOFF)
Error reset/error occurring
(
ERRRESET)
Start/operating
(
START)
Servo ON/turning servo ON
(
SRVON)
Operation right/operation right enabled (
IOENA)
Program reset/program selectable
(SLOTINIT)
General output signal reset
(
OUTRESET)
User specification area 1
(
USRAREA)
Input: Stop a program
Output: Output program standby status
Input: Turn the servo off
Output: Output servo ON disabled status
Input: Cancel error status
Output: Output error status
Input: Start automatic operation
Output: Output program running status
Input: Turn the servo on
Output: Output servo on status
Input: Enable/disable operation right of external signal control
Output: Output external signal control operation enabled status
Input: Initiate a program. The program execution returns to the first step.
Output: Output a status where program No. can be changed
Input: Reset a general output signal
Output an indication that the robot is in an area specified by a user
Set the start number and end number
0 , -1
1 , -1
2 , -1
3 , 1
4 , 0
5 , -1
10 , -1
11 , -1
8 , 8
(*1) “-1” in the Setting value column means “not set.”
11.2.
Operation Parameters
the optimal acceleration/deceleration.
Table
11
2
List of Operation Parameter
Reference value Parameter name
Optimal acceleration/ deceleration hand data
(HANDDAT1)
Optimal acceleration/ deceleration workpiece data
(WRKDAT1)
Explanation
Specify hand weight and so on to make settings that allow optimal acceleration/deceleration operations.
For example, if the hand weighs 3 kg, changing the weight setting value from 10 kg to 3 kg makes the robot movement faster.
(Hand weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
Specify workpiece weight and so on to make settings that allow optimum acceleration/deceleration operations.
If a workpiece is grabbed via the HClose instruction, the acceleration/deceleration becomes slower. If a workpiece is released via the HOpen instruction, acceleration/deceleration becomes faster.
(Workpiece weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(3,0,0,0,0,0,0)
The setting values are different for each robot model.
Use these values
as reference only.
(1,0,0,0,0,0,0)
The setting values are different for each robot model.
Use these values as reference only.
11-46 Dedicated Input/Output Parameters
11 Parameter Setting
11.3.
Tracking Parameter Setting
Specify to which channel of a Encoder connector(CNENC) an encoder of a conveyer is connected.
3 Tracking Parameter Setting” lists the parameters to be set. Other parameters are shown in “Table
16-1 List of Tracking Parameters”; make settings as required.
Table
11
3
Tracking Parameter Setting
Parameter
Tracking mode
Parameter name
TRMODE
Number of elements
Explanation
Value set at factory shipping
0
Encoder number allocation
EXTENC
1 integer Enable the tracking function
Please set it to “1" when you use the tracking function.
0: Disable/1: Enable
8 integers Set connection destinations on the connector for encoder numbers 1 to 8.
Parameter elements correspond to encoder number
1, encoder number 2 … encoder number 8 from the left.
In addition, the encoder physics numbers 3-8 are the reservation number for extension. At present, it cannot be used.
Connection channel
Encoder physics number
Standard CH1
Standard CH2
1
2
Slot1 CH1
Slot1 CH2
Slot2 CH1
Slot2 CH2
3
4
5
6
Reservation number for future extension
Slot3 CH1
Slot3 CH2
7
8
The value of the encoder which wired the channel 1 in case of the standard encoder input connector
[CNENC] for the robot controller is equipped with the encoder cable with initial setting,The value of the encoder which wired the channel 2 by the status variable "M_Enc (1)", "M_Enc (3)", "M_Enc (5)", and
"M_Enc (7)",It can confirm by the status variable
"M_Enc (2)", "M_Enc (4)", "M_Enc (6)", and "M_Enc
(8)."
It is convenient to check the status variable “M_Enc” when determining the setting value of the “EXTENC” parameter.
Please refer to "19.1.2 List of Robot Status
Variables” for the explanation of state variable
“M_Enc".
Please refer to “Detailed Explanations of Functions and Operations” for how to check the status variable
1,2,3,4,1,2,3,4
Tracking
Workpiece judgement distance
TRCWDST 1 integer Distance to judge that the same workpiece is being tracked (mm)
The sensor reacts many times when the workpiece with the ruggedness passes the sensor. Then, the robot controller judged that one workpiece is two or more pieces.
The sensor between values [mm] set to this parameter does not react after turning on the sensor.
5.00
Tracking Parameter Setting 11-47
12 Sample Robot Programs
[Part 4] Tracking Control (common function between series)
(Take note that there are some aspects which differ between CR750-Q, CR751-Q, CRnQ-700 series and
CR750-D, CR751-D, CRnD-700 series.)
12.
Sample Robot Programs
This chapter explains the structure of the sample robot programs.
Two types of sample robot programs are provided; for conveyer tracking and for vision tracking. Their
program structures are shown in “Table 12
1 List of Sample Robot Programs (Conveyer Tracking)” and
2 List of Sample Robot Programs (Vision Tracking)” respectively.
Refer to “RT ToolBox2 Robot Total Engineering Support Software Instruction Manual” for how to install programs to the robot controller.
Program name
A1
C1
1
CM1
Table
12
1
List of Sample Robot Programs (Conveyer Tracking)
Workpiece coordinate system
- robot coordinate system matching program
Workpiece coordinate monitor program
Description
Conveyer - robot coordinate system calibration program
Operation program
Explanation
This program matches the coordinate systems of the conveyer and robot and calculates the amount of robot movement per encoder pulse.
This program calculates the coordinates at which the robot grabs a workpiece based on the coordinates at which a sensor is activated.
This program handles transporting workpieces while following recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following movement
This program monitors encoder values and stores workpiece coordinates.
Program name
A1
B1
C1
Table
12
2
List of Sample Robot Programs (Vision Tracking)
Description Explanation
Conveyer - robot coordinate system calibration program
This program matches the coordinate systems of the conveyer and robot and calculates the amount of robot movement per encoder pulse.
Vision coordinate system – robot coordinate system calibration program
Workpiece coordinate system
- robot coordinate system matching program
This program matches the vision coordinate system and the robot coordinate system.
1
CM1
Operation program
Workpiece coordinate monitor program
This program calculates the coordinates at which the robot grabs a workpiece based on the coordinates at which a vision sensor has detected the workpiece.
This program handles transporting workpieces while following recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following movement
This program monitors encoder values and stores workpiece coordinates.
12-48 Tracking Parameter Setting
13 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
13. Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
This chapter explains the tasks carried out by using “A1” program.
* “A1” program contains operations required for both conveyer tracking and vision tracking.
Calibration of a conveyer refers to determining the movement direction of the conveyer in the robot coordinate system and the amount of movement of the robot per encoder pulse. This amount of movement is stored in the robot’s status variable “P_EncDlt.”
“A1” Program performs specified tasks and automatically calculates the amount of movement of the robot per encoder pulse mentioned above.
The procedures of operations specified by “A1” program and items to be confirmed after the operations are explained below.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation.
Please monitor status variable “M_Enc(1)" to “M_Enc(8)" before it works, rotate the encoder, and confirm the value changes.
13.1. Operation procedure
1) Mount a calibration jig on the mechanical interface of a robot. Connect a personal computer on which
RT ToolBox2(option) is installed to the robot controller.
2) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
O
/P
T
/B
Up :DISABLE
Down:ENABLE
★
Lamp lighting
T
/B rear
3) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear.
<MENU> MELFA CR75x-D Ver. S3
RH-3FH5515-D
COPYRIGHT (C) 2011 MITSUBISHI ELEC
TRIC CORPORATION ALL RIGHTS RESE
RVED
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○
○
123
○ CLOSE
4) Select "1. FILE /EDIT" screen on the <MENU> screen.
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○
○
123
○ CLOSE
<FILE/EDIT> 1/ 20Rem 136320
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
EDIT
POSI
123
NEW COPY
5) Press the arrow key, combine the cursor with the program name "A1" and press the [EXE] key.
Display the <program edit> screen.
<PROGRAM> A1
<FILE/EDIT> 1/ 20Rem 136320
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
EDIT
POSI
123
NEW COPY
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
EDIT
DELETE
123
INSERT TEACH
Operation procedure 13-49
13 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
6) Press the [FUNCTION] key, and change the function display
<PROGRAM> A1
<プログラム> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
FWD JUMP
123
挿入 BWD
7) Press the [F1] (FWD) key and execute step feed. "(1)Encoder No ......." is displayed
<PROGRAM> A1
4 '# Create/version : 2006.04.21 A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1)Encoder No. ....
FWD JUMP
123
挿入 BWD
8) Work according to the comment directions in the robot program.
9) Next "' (2) On conveyor both .. Execute step feed to ".
<PROGRAM> A1
9 MECMAX=8
10 If PE.X<1 Or PE.X>MECMAX Then Er
11 MENCNO=PE.X
12 '(2)On conveyor both ....
FWD
JUMP
123
挿入 BWD
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
<PROGRAM> A1
<PROGRAM> A1
STEP (1 )
○
○
123
○ CLOSE
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE
123
INSERT TEACH
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the program.
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Area recognized by a workpiece sensor
(3) Z-axis elevation
(1) Attach a sticker
(2) Robot movement
(4) Sticker movement
Encoder data acquisition
Position acquisition
(6) Z-axis elevation
(5) Robot movement
Encoder data acquisition
Position acquisition
* (1) - (6) in the figure shows the details of operations in the sample program.
Figure
13
1
Conveyer and Robot Calibration Operation Diagram
13-50 Operation procedure
13 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
13.2. Tasks
1) Set the encoder number to the X coordinates value of position variable: "PE."
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
<POS> JNT 100% P5
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DIRECT CHANGE
123
挿入 CLOSE
MOVE
TEACH
123
Prev Next
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display "PE" on the position name.
<POS> JNT 100% PE
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the encoder number into X coordinates.
<POS> JNT 100% PE
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
(d) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PE
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DELETE NAME 123
CHANGE CLOSE
<PROGRAM> A1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : A1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Tasks 13-51
13 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
2) Attach a marking sticker on the conveyer (a sticker with an X mark is the best choice for the marking sticker).
Drive the conveyer and stop it when the marking sticker comes within the robot movement range.
Robot
Robot movement of range
R
Conveyer flow
Marking sticker
Figure
13
2
Position of Marking Sticker on Conveyer
3) Move the robot to the position right at the center of the marking sticker on the conveyer.
* With this operation, encoder data and robot position are acquired.
CAUTION
Move the robot to an accurate position.
Be sure to move the robot to the position exactly at the center of the marking sticker because the amount of robot movement per encoder pulse is determined by the robot positions specified for the first and second times. Moreover, pay attention to the robot height as well because this amount of movement includes changes of robot position in the Z axis direction.
4) Raise the robot.
5) Drive the conveyer and stop at a position where the marking sticker is immediately outside the robot movement range.
CAUTION
The marking sticker should be moved for the maximum amount of movement allowed by the robot movement range.
If the amount of movement is too small, errors in the amount of robot movement per encoder pulse will become large due to the error of the position specified for the robot.
6) Move the robot to the position right above the center of the marking sticker on the moved conveyer.
* With this operation, encoder data and robot position are acquired.
7) Raise the robot.
8) Perform step operation until “End.”
* The amount of robot movement per encoder pulse is calculated based on this operation.
13-52 Tasks
13 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
13.3. Confirmation after operation
Check the value of “P_EncDlt” using T/B.
* This value indicates the movement of each coordinate (mm) of the robot coordinate system, corresponding to the movement of the conveyer per pulse.
Example) If ”0.5” is displayed for the Y coordinate only
This means that if the conveyer moves for 100 pulses, the workpiece moves 50 mm (0.5 x 100 =
50) in the +Y direction in the robot coordinate system.
When backing up, the data of “P_EncDlt" is not backed up.
Please work referring to "20.3.5 Restore backup data to another controller" when you restore data to
another tracking system.
13.4. When multiple conveyers are used
Carry out the same operations as above when multiple conveyers are used as well, but pay attention to the following points.
Example) When using conveyer 2 (encoder number 2):
(a) Enter “2” for the encoder number specified for the X coordinate of the position variable “PE” in the program.
(b) Check the value of “P_EncDlt(2)” using RT ToolBox2 when confirming the data after operation.
Refer to “RT ToolBox2 Robot Total Engineering Support Software Instruction Manual” for how to check variable values using RT ToolBox2.
Confirmation after operation 13-53
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
14. Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
This chapter explains the tasks carried out by using “B1” program.
* “B1” program only contains operations required when constructing a vision tracking system.
These operations are not necessary when constructing a conveyer tracking system.
Calibration of a vision sensor refers to converting the position of a workpiece recognized by the vision sensor to the corresponding position in the robot coordinate system.
This calibration operation is easily performed by the “Mitsubishi robot tool” in In-Sight Explorer. Refer to
"Mitsubishi robot tool manual for EasyBuilder" for the details of this function.
“B1” program performs specified tasks and allows acquiring the workpiece coordinates recognized by the vision sensor in the robot coordinate system (position coordinates of robot movement).
The procedures of operations specified by “B1” program and items to be confirmed after the operations are explained below.
This chapter explains on the assumption that "Mitsubishi robot tool" is used.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation.
14.1. Operation procedure
1) To communicate the Mitsubishi robot tool and the vision sensor, set a necessary parameter by using RT
ToolBox2.
A necessary parameter is three (“NETIP", "Element 9 of NETTERM", and “CTERME19").
In RT ToolBox2, select [Online]-[parameter]-[parameter list].
Input the following parameters to "Parameter Name" of the displayed "Parameter list" screen and change a “Setting value”.
Parameter Name
NETIP
Initial value
Q type:192.168.100.1
Setting value Explanation xxx.xxx.xxx.xxx
IP address of robot controller
D type:192.168.0.20
NETTERM(Element 9) 0 1
CTERME19 0 1
The end code is added with communication.
The end code of port 10009 is changed to “CR+LF”.
Please confirm whether the following parameters are initial values.
Parameter Name Initial value
NETPORT(Element 10) 10009
Explanation
Port number allocated to device OPT19
CPRCE19
NETMODE(Element 9)
0
1
The protocol used is “Non-procedure”
Opens as “Server”.
14-54 Operation procedure
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
In RT ToolBox2, select [Online]-[parameter]-[Ethernet setting].
“OPT12" is selected “COM2:" that exists in "Line and Device" column on the displayed "Ethernet setting" screen. Double-click “OPT12" that exists in "Device List" .
Check "Change the parameter to connect Vision", and Input IP address of the vision sensor to "IP
Address:" column. Click [OK] button. And, click [write] button on “Ethernet setting” screen.
Double click
Turn on robot controller's power supply again to make the set parameter effective.
2) Open “B1” program using T/B.
Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
O
/P
T
/B
Up :DISABLE
Down:ENABLE
★ Lamp lighting
T /B rear
3) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear.
<MENU> MELFA CR75x-D Ver. S3
RH-3FH5515-D
COPYRIGHT (C) 2011 MITSUBISHI ELEC
TRIC CORPORATION ALL RIGHTS RESE
RVED
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○ ○
123
○ CLOSE
4) Select "1. FILE /EDIT" screen on the <MENU > screen.
<MENU>
<FILE/EDIT> 1/ 20Rem 136320
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
○ ○
123
○ CLOSE
EDIT POSI
123
NEW COPY
5) Press the arrow key, combine the cursor with the program name "B1" and press the [EXE] key. Display the <program edit> screen.
<FILE/EDIT> 1/ 20Rem 136320
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
EDIT
POSI
123
NEW COPY
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
EDIT
DELETE
123
INSERT TEACH
Operation procedure 14-55
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
6) Press the [FUNCTION] key, and change the function display
<PROGRAM> B1
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
FWD JUMP
123
挿入 BWD
7) Press the [F1] (FWD) key and execute step feed. "(1)Encoder No ......." is displayed
<PROGRAM> B1
4 '# Create/version : 2006.04.21 A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1)Encoder No. ....
FWD JUMP
123
挿入 BWD
8) Work according to the comment directions in the robot program.
9) Next "' (2) Vision sensor .. Execute step feed to ".
<PROGRAM> B1
9 MECMAX=8
10 If PE.X<1 Or PE.X>MECMAX Then Er
11 MENCNO=PE.X
12 '(2) Vision sensor....
FWD
JUMP
123
挿入 BWD
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
<PROGRAM> B1
<PROGRAM> B1
STEP (1 )
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
○
○
123
○ CLOSE
EDIT DELETE
123
INSERT TEACH
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the program.
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Area recognized by a workpiece sensor
(1)Attach stickers
Encoder data acquisition
Encoder data acquisition
* (1) - (5) in the figure shows the details of operations in the sample program.
(5) Z-axis elevation
(4) Robot movement
Figure
14
1
Vision Sensor and Robot Calibration Operation Procedure Diagram
14-56 Operation procedure
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
14.2. (2) Tasks
1) Set the encoder number to the X coordinates value of position variable: "PE."
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
<POS> JNT 100% P1
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DIRECT CHANGE
123
挿入 CLOSE
MOVE
TEACH
123
Prev Next
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display "PE" on the position name.
<POS> JNT 100% PE
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the encoder number into X coordinates.
<POS> JNT 100% PE
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
(d) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PE
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
<PROGRAM> B1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : B1.prg
4 '# Create/version : 2006.04.21 A1
DELETE NAME 123
CHANGE CLOSE
DIRECT CHANGE
123
挿入 CLOSE
2) Start In-Sight Explorer and make the vision sensor into the off-line. Select the [Live Video] of “Set Up
Image” in “Application Steps” Menu and display the picture which the vision sensor picturized on real time. Refer to the manual obtained from the Cognex for operation of In-Sight Explorer.
(2)
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
3) Paste appendix calibration seat to "Mitsubishi robot tool manual for EasyBuilder" on the conveyer.
Paste calibration seat within the field of vision checking the live images of In-Sight Explorer.
* With this operation, encoder data is acquired.
Robot
Robot movement of range
Calibration seat
Conveyer flow
Camera for vision sensor
R
Figure
14
2
Pasting Calibration seat
14-58 (2)
Figure
14
3 Screen of In-Sight Explorer from which calibration seat is taken picture
Tasks
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
4) End [Live Video] of In-Sight Explorer, and select [Inspect Part] button of “Application Steps”.
5) Select [Geometry Tools] - [User-Defined Point] in “Add tool”.
Figure
14
4 Screen of In-Sight Explorer from which calibration seat is taken picture
6) Click [Add] button. Then, the cross sign enclosed with circle on the screen is displayed.
Move it to the mark of the calibration seat, and click [OK] button.
7) Specify the “User-Defined point” in three points or more repeating the above-mentioned work.
The example of specifying these three points is shown.
(2)
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
8) Select [Mitsubishi Robot Tool] – [Mitsubishi N-point calibration] in “Add Tool” column of this tool.
9) Click [Add] button. Select “User-Defined point” three points specified ahead from nine displayed marks.
Then, Click [OK] button.
10) Open the [Settings] tab screen from the “Edit Tool”, and input IP address set to "Robot IP address".
11) Make the vision sensor online.
14-60 (2)
Tasks
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
12) Move the calibration seat by starting the conveyer within the robot movement range.
13) Move the robot to the position right above the first mark on the conveyer.
Move the robot to first point
14) Click [Get position] button in “Edit Tool” column of In-Sight Explorer.
Confirm the current position of the robot was displayed in [world X] and [world Y].
15) Similarly, move the robot hand to the mark of the second point and the third point, and acquire the current position of the robot with [Get position] button of In-Sight Explorer.
16) Input an arbitrary name to "File name" in the tool edit column of In-Sight Explorer, and click the export button. And, confirm the calibration file of the specified name was made in the vision sensor.
17) Raise the robot.
* With this operation, encoder data is acquired.
(2)
14 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
14.3. (3) Confirmation after operation
Check the value of “M_100()” using T/B.
Enter the
encoder number in the array element.
Confirm that the differences between the encoder values acquired on the vision sensor side and the encoder values acquired on the robot side are set in “M_100().”
CAUTION
If precision is highly important, use four workpieces instead of marking stickers to specify 4 points at which they are grabbed.
When marking stickers are used, a vision sensor calculates the robot position on a flat plane immediately above the conveyer. If the workpiece height is large, the robot coordinate values may deviate from the actual workpiece center displayed when the center of the workpiece is recognized.
For this reason, it is recommended to calibrate the robot using workpieces in order to make sure that the robot calculates the coordinates correctly, based on a flat plane immediately above the workpieces.
Vision sensor
The vision sensor judges this position as the workpiece center.
Workpiece
Recognition error
Flat plane immediately above conveyer
14-62 (3)
Confirmation after operation
15 Workpiece Recognition and Teaching (“C1” program)
15.
Workpiece Recognition and Teaching (“C1” program)
This chapter explains the tasks carried out by using “C1” program.
* “C1” program contains operations required for both conveyer tracking and vision tracking, but
different operations are performed. Refers to “15.1Program for Conveyer Tracking” for operations
in the case of conveyer tracking and “15.2Program for Vision Tracking” for operations in the case
of vision tracking.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation.
15.1.
Program for Conveyer Tracking
In “C1” program for conveyer tracking, encoder data at the positions where a sensor is activated and where the robot suctions a workpiece is acquired so that the robot can recognize the workpiece coordinates when the sensor is activated at later times.
The operation procedure and items to be confirmed after operation in “C1” program for conveyer tracking are explained below.
(1) Operation procedure
1) Open “C1” program using T/B.
2) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
O /P T /B
Up :DISABLE
Down:ENABLE
★ Lamp lighting
T
/B rear
3) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear.
<MENU> MELFA CR75x-D Ver. S3
RH-3FH5515-D
COPYRIGHT (C) 2011 MITSUBISHI ELEC
TRIC CORPORATION ALL RIGHTS RESE
RVED
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○ ○
123
○ CLOSE
4) Select "1. FILE /EDIT" screen on the <MENU > screen.
<MENU>
<FILE/EDIT> 1/ 20Rem 136320
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
○
○
123
○ CLOSE
EDIT POSI
123
NEW COPY
5) Press the arrow key, combine the cursor with the program name "C1" and press the [EXE] key. Display the <program edit> screen.
<FILE/EDIT> 1/ 20Rem 136320
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
EDIT
POSI
123
NEW COPY
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT
DELETE
123
INSERT TEACH
Program for Conveyer Tracking 15-63
15 Workpiece Recognition and Teaching (“C1” program)
6) Press the [FUNCTION] key, and change the function display
<PROGRAM> C1
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
FWD JUMP
123
挿入 BWD
7) Press the [F1] (FWD) key and execute step feed. "(1)Vision No ......." is displayed
<PROGRAM> C1
4 '# Create/version : 2006.04.21 A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1) Vision No. ....
FWD JUMP
123
挿入 BWD
8) Work according to the comment directions in the robot program.
9) Next "' (2) Encoder No.. Execute step feed to ".
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1) Vision No. ....
3 '(2) Encoder No....
FWD
JUMP
123
挿入 BWD
10) Repeat (7) - (8) and execute step feed to "End."
11) Press the [F2] (JUMP) key and input the step number. Press the [EXE] key. Then returns to first step
<PROGRAM> C1
<PROGRAM> C1
STEP (1 )
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
○
○
123
○ CLOSE
EDIT DELETE
123
INSERT TEACH
12) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the program.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Area recognized by a workpiece sensor
(1) Place a target workpiece
Encoder data acquisition
(2) Move the workpiece
(3) Move the robot
Encoder data acquisition
Read the current value
Figure
15
1
Operation for Matching Workpiece Coordinates and Robot Coordinates
15-64 Program for Conveyer Tracking
15 Workpiece Recognition and Teaching (“C1” program)
(2) Tasks
1) Enter the model number, encoder number and number of the sensor that monitors the workpieces in the
X, Y and Z coordinates of the position variable “PRM1” in the program.
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
<POS> JNT 100% PRM2
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DIRECT CHANGE
123
挿入 CLOSE MOVE TEACH
123
Prev Next
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display
"PRM1" on the position name.
<POS> JNT 100% PRM1
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the model number into X coordinates.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
(d) Y coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the encoder number into Y coordinates.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
(e) Z coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the number of the sensor that monitors the workpieces into Z coordinates.
SD series
SQ series
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0008.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0810.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
移動
教示
123
Prev Next
Example) Input signal number is 8 Example)Traking enable signal number is 810.
(f) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0008.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DELETE NAME 123
CHANGE CLOSE
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Program for Conveyer Tracking 15-65
15 Workpiece Recognition and Teaching (“C1” program)
2) Move a workpiece to the location where the sensor is activated.
* With this operation, encoder data is acquired.
3) Drive the conveyer to move the workpiece within the robot movement range.
4) Move the robot to the position where it suctions the workpiece.
* With this operation, encoder data and robot position are acquired.
5) Perform step operation until “End.”
* With this operation, the robot is able to calculate the position of a workpiece as soon as the sensor is activated.
(3) Confirmation after operation
Confirm the values of “M_101(),” “P_100()” and “P_102()” using T/B.
Enter encoder numbers in array elements.
“M_101()”: Differences between the encoder values acquired at the position of the photoelectronic sensor and the encoder values acquired on the robot side.
“P_100()”: Position at which workpieces are suctioned
“P_102()”: The value of the variable “PRM1” set in step (1)
Check that each of the values above has been entered correctly.
15-66 Program for Conveyer Tracking
15 Workpiece Recognition and Teaching (“C1” program)
15.2.
Program for Vision Tracking
Vision tracking “C1” program acquires encoder data at the position where the vision sensor recognizes workpieces and where the robot suctions workpieces such that the robot can recognize the work coordinates recognized by the vision sensor. The following explains the operation procedure and items to confirm after operation in vision tracking “C1” program.
(1) Operation procedure
1) Register workpieces to be recognized by a vision sensor and create a vision program.
Please refer to "In-Sight Explorer manual" for the method of making the vision program.
2) Open “C1” program using T/B.
3) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
O
/P
T
/B
Up :DISABLE
Down:ENABLE
★
Lamp lighting
T
/B rear
4) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen will appear.
<MENU> MELFA CR75x-D Ver. S3
RH-3FH5515-D
COPYRIGHT (C) 2011 MITSUBISHI ELEC
TRIC CORPORATION ALL RIGHTS RESE
RVED
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
○
○
123
○ CLOSE
5) Select "1. FILE /EDIT" screen on the <MENU > screen.
<MENU>
<FILE/EDIT> 1/ 20Rem 136320
1.FILE/EDIT 2.RUN
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
○ ○
123
○ CLOSE
EDIT
POSI
123
NEW COPY
6) Press the arrow key, combine the cursor with the program name "C1" and press the [EXE] key. Display the <program edit> screen.
<FILE/EDIT> 1/ 20Rem 136320
1 07-05-30 20:21:30 485
A1 07-05-30 20:21:30 485
B1 07-05-30 20:21:30 485
C1 07-05-30 20:21:30 485
EDIT POSI
123
NEW COPY
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE
123
INSERT TEACH
Program for Vision Tracking 15-67
15 Workpiece Recognition and Teaching (“C1” program)
7) Press the [FUNCTION] key, and change the function display
<PROGRAM> C1
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
FWD JUMP
123
挿入 BWD
8) Press the [F1] (FWD) key and execute step feed. "(1)Vision No ......." is displayed
<PROGRAM> C1
4 '# Create/version : 2006.04.21 A1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1) Vision No. ....
FWD JUMP
123
挿入 BWD
9) Work according to the comment directions in the robot program.
10) Next "' (2) Encoder No.. Execute step feed to ".
<PROGRAM> C1
5 '# COPYRIGHT : MITSUBISHI ELECTRIC
6 '##################################
7 '(1) Vision No. ....
3 '(2) Encoder No....
FWD
JUMP
123
挿入 BWD
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
<PROGRAM> C1
<PROGRAM> C1
STEP (1 )
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
○
○
123
○ CLOSE
EDIT DELETE
123
INSERT TEACH
13) Press the [FUNCTION] key, and change the function display. Press the [F4] (close) key and close the program.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE 123
INSERT TEACH
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DIRECT CHANGE
123
挿入 CLOSE
Vision sensor recognition area
(5) Raise the robot
(1) Place a target workpiece
(4) Move the robot
(2) Recognize a workpiece with the vision sensor
Encoder data acquisition
(3) Move the workpiece
Workpiece position acquisition
Encoder data acquisition
Read the current value
Figure
15
2
Operation for Matching Workpiece Coordinates and Robot Coordinates
15-68 Program for Vision Tracking
(2) Tasks
1) Make the vision program.
Take picture of workpiece.
Specify the trigger.
15 Workpiece Recognition and Teaching (“C1” program)
Select [File] – [New Job] from the menu.
Click [Set Up Image] button from
“Application Steps”.
Click [Live Video] button.
Take picture of workpiece that does the tracking.
Again, stop a live image clicking [Live
Video] button.
Change [Trigger] from "Camera" to
"Manual”.
8640(The image trigger is abnormal) error occurs when the robot controller outputs the taking picture demand to the vision sensor when you do not change.
Import the calibration data. In [Calibration type], select "Import".
In [File Name], select “TrackingCalib.cxd" registered when working about the B1 program.
Program for Vision Tracking 15-69
15 Workpiece Recognition and Teaching (“C1” program)
Register workpiece. (preparation) Click [Locate Part] from “Application Steps”.
Select "PatMax Pattern" from “Add Tool”, and click [Add] button.
Register workpiece. (Model registration) Move the displayed "Model" frame, and enclose workpiece.
Click [OK] button in “Directions”.
Register workpiece. (Adjustment) Click [Settings] tab from "Edit Tool", and change the [Rotation Tolerance] value to
“180".
(The vision sensor can recognize workpiece up to ±180 degrees. )
Change the [Accept Threshold], and adjust the recognition rate of workpiece.
15-70 Program for Vision Tracking
Do the communication setting.
15 Workpiece Recognition and Teaching (“C1” program)
Click [Communication] from “Application
Steps”.
Click [Addi Device] from "Communications".
Select the following from "Device Setup".
[Device:] "Robot"
[Manufacturer:] "Mitsubishi”
[Protocol:] "Ethernet Native String"
Click [OK] button.
Set the communication format. (preparation) Click [Add] button from "Format Output
String".
-> "Select Output Data" screen opens.
Set the communication format. (selection) Click [+] sign of “Pattern_1”, and select it in the following order while pushing the [Ctrl] key.
(1) Pattern_1. Pass
(2) Pattern_1. Fixture.X
(3) Pattern_1. Fixture.Y
(4) Pattern_1. Fixture.Angle
Click [OK] button.
Program for Vision Tracking 15-71
15 Workpiece Recognition and Teaching (“C1” program)
Confirmation of communication format Confirm the value enclosed with a square frame.
Data sent to the robot controller is shown in a right square frame.
Change the value of [Decimal Places], and change the number of decimal positions of transmitted data.
Save the vision program Click [Save Job] from “Application Steps”.
Click [Save] from "Save Job".
Make the name of the job that saves it
“TRK".
Change the line of “CPRG$=" C1 program when not assuming “TRK".
Make it to online. Click [Run Job] from “Application Steps”.
Click [Online] on "Job Status".
15-72 Program for Vision Tracking
15 Workpiece Recognition and Teaching (“C1” program)
2) Enter the model number and encoder number in the X and Y coordinates of the position variable
“PRM1” in the program.
(a) Press the function key ([F2]) corresponding to "the change", and display the position edit screen.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
<POS> JNT 100% P_100(0)
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
DIRECT CHANGE 123
挿入 CLOSE
MOVE
TEACH
123
Prev Next
(b) The [F3] (Prev) key or the [F4] (Next) key is pressed, change the target variable, and display
"PRM1" on the position name.
<POS> JNT 100% PRM1
X:+0000.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
(c) X coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the model number into X coordinates.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0000.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
(d) Y coordinates are selected by the arrow key, press the [CLEAR] key for a long time, and delete the details. Input the encoder number into Y coordinates.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
(f) Press the function key ([F2]) corresponding to "the change", and display the command edit screen.
<POS> JNT 100% PRM1
X:+0001.00 A:+0000.00
Y:+0001.00 B:+0000.00
Z:+0000.00 C:+0000.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
DELETE NAME
123
CHANGE CLOSE
DIRECT CHANGE
123
挿入 CLOSE
3) Start In-Sight Explorer and make the vision sensor into the off-line. Select the [Live Video] of “Set Up
Image” in “Application Steps” Menu and display the picture which the vision sensor picturized on real time. Check the images and set the field of vision in the moving direction of the conveyer (mm) and the length of workpieces detected by the vision sensor (length in the moving direction of the conveyer) in the X and Y coordinates of the position variable “PRM2” in the program, respectively.
(a) Open the [Position data Edit] screen.
(b) Display “PRM2” at the position name.
(c) Enter the field of vision in the moving direction of the conveyer (mm) in the X coordinate.
(d) Enter the workpiece length detected by the vision sensor (length in the moving direction of the conveyer (mm)) in the Y coordinate.
(d) Return to the [Command edit] screen.
Program for Vision Tracking 15-73
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.
<PROGRAM> C1
1 '## Ver.A1 ########################
2 '# tracking robot‐conveyor calibra
3 '# NAME : C1.prg
4 '# Create/version : 2006.04.21 A1
EDIT DELETE
123
INSERT TEACH
(b)Display the command step shown in the following
<PROGRAM> C1
11 'COM No. of comunication line
12 CCOM$="COM2"
13 'Program neme of Vision
14 CPRG$="TRK.JOB"
EDIT DELETE
123
INSERT TEACH
(c) Press [F1] (edit) key and specify the line opened for the robot controller may connect with the vision sensor to the variable "CCOM$." example) Open COM3:
< PROGRAM > C1
12 CCOM$="COM2:"
< PROGRAM > C1
12 CCOM$="COM3:"
EDIT DELETE 123
INSERT TEACH
EDIT
DELETE
123
INSERT TEACH
(d)Press the [EXE] key and edit is fixed.
<PROGRAM> C1
11 'COM No. of comunication line
12 CCOM$="COM3"
13 'Program neme of Vision
14 CPRG$="TRK.JOB"
EDIT DELETE
123
INSERT TEACH
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.
15-74 Program for Vision Tracking
15 Workpiece Recognition and Teaching (“C1” program)
8) Using T/B, close the opened “C1” program once and then run the modified “C1” program automatically with the robot controller.
Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
Although the image of the operation panel is the CRnD-700 controller, the operation method is the same in other controllers.
T/B disabled
Controller enabled
Set the T/B [ENABLE] switch to "DISABLE".
Servo ON
Selection of a program number
Display of a program number
Selection of a program number
Set the controller
[MODE] switch to
"AUTOMATIC".
Press the [SVO ON] key, the servo will turn ON, and the SVO ON lamp will light.
Press the [CHNG DISP] key and display
"PROGRAM NO." on the STATUS NUMBER display.
Press the [UP] or the
[DOWN] key and display program name"C1"
Start of automatic operation
Start
Press the [START] key.
Program for Vision Tracking 15-75
15 Workpiece Recognition and Teaching (“C1” program)
After automatic operation, “C1” program automatically stops and the LED of the [STOP] button is turned on. Open “C1” program again with T/B. Press the [F1](FWD) key to display the subsequent operation messages.
* With this operation, encoder data and workpiece position recognized by the vision sensor are acquired.
9) Rotate the conveyer forward and move a workpiece within the vision sensor recognition area into the robot movement range.
10) Move the robot to the position where it is able to suction the workpiece.
* With this operation, encoder data and robot position are acquired.
11) Perform step operation until “End.”
* With this operation, the robot becomes able to recognize the position of the workpiece recognized by the vision sensor.
(3) Confirmation after operation
Check the values of the following variables using T/B.
Enter the model number for the array number.
Value of “M_101()”: Differences between encoder values when a workpiece is within the vision sensor area and when the workpiece is on the robot side
Value of “P_102()”: Data in the variable “PRM1” (model number/encoder number)
Value of “P_103()”:
Data in the variable “PRM2” (recognition field of image view/workpiece size)
Value of “C_100$()”: COM number
Value of “C_101$()”: Vision program name
Confirm that each of the above values is entered.
15-76 Program for Vision Tracking
16 Teaching and Setting of Adjustment Variables (“1” Program)
16.
Teaching and Setting of Adjustment Variables (“1” Program)
This chapter explains operations required to run “1” program.
* “1” program settings are required for both conveyer tracking and vision tracking.
“1” program instructs the robot to follow and grab workpieces recognized by a photoelectronic sensor or vision sensor and transport the workpieces.
The teaching positions required by “1” program are explained below, along with how to set adjustment variables prepared in the program.
16.1. Teaching
The teaching of "Starting point position (position in which it is waited that workpiece arrives)" and
"Transportation destination (position in which the held workpiece is put)" is executed.
For instance, the teaching does the following positions.
Vision sensor recognition area
(PPT)
Transportation point
Conveyer flow
(P1)Start
Teach the origin position and transportation destination. The following explains how to perform these operations.
1) Open “1” program using T/B.
2) Open the [Position data Edit] screen.
3) Display “P1” in order to set the robot origin position when the system is started.
4) Move the robot to the origin position and teach it the position.
5) Display “PPT” in order to set the transportation destination position (the location where workpieces are placed).
6) Move the robot to the transportation destination and teach it the position.
Confirm whether workpiece can be transported at the position in which the teaching was done.
7) Display “P1" at the starting point position on the [Position data Edit] screen. Turn on the servo by gripping the deadman switch.
8) Move the robot to the position of “P1" pushing F1 (MOVE).
<POS> JNT 100% P1
X: +300.00 A:+0000.00
Y: +500.00 B: +90.00
Z: +400.00 C: +150.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE
TEACH
123
Prev Next
9) Move the robot to an arbitrary position (position in which workpiece flows) by the jog operation.
10) Display “PPT" at the transportation point position on the [Position data Edit] screen. Turn on the servo by gripping the deadman switch.
<POS> JNT 100% PPT
X: +50.00 A:+0000.00
Y: +500.00 B: +90.00
Z: +400.00 C: +45.00
L1:+0000.00 L2:+0000.00
FL1:00000007 FL2:00000000
MOVE TEACH
123
Prev Next
11) Move the robot to the position of “PPT" pushing F1 (MOVE).
Teaching 16-77
16 Teaching and Setting of Adjustment Variables (“1” Program)
16.2. Setting of adjustment variables in the program
The following section explains how to set adjustment variables, which are required at transportation, and details about their setting.
Please refer to separate manual “Detailed Explanations of Functions and Operations” for how to set adjustment variables.
Table
16
1
List of Adjustment Variables in Programs
Variable name
Explanation Setting example
PWK
PRI
Set the model number.
X = model number (1 to 10)
“1” program and “CM1” program are run simultaneously (multitasking). “1” program moves the robot, and “CM1” program observes the sensor.
It is possible to specify which program is processed with a higher priority, rather than performing the same amount of processing at the same time.
X = Set the line numbers of “1” program to be performed (1 to 31).
Y = Set the line numbers of “CM1” program to be performed (1 to 31).
When you set 1 to the model number:
(X, Y, Z, A, B, C) =(+1,+0,+0,+0,+0,+0)
When you set to run “1” program by one line and run “CM1” program by 10 lines:
(X, Y, Z, A, B, C) = (+1,+10,+0,+0,+0,+0)
PUP1 When operating by the adsorption of workpiece, set the height that the robot works.
Height sets the amount of elevation (mm) from the position where workpiece is adsorbed.
X = Amount of elevation of the position where a robot waits until a workpiece arrives. (mm)
Y = Amount of elevation from the workpiece suction position (before suctioning) (mm)
Z = Amount of elevation from the workpiece suction position (after suctioning) (mm)
* Since the Y and Z coordinates indicate distances in the Z direction in the tool coordinate system, the sign varies depending
on the robot model.
PUP2 When operating in putting workpiece, set the height that the robot works.
Height sets the amount of elevation (mm) from the position where workpiece is adsorbed.
Y = Amount of elevation from the workpiece release position (before release). (mm)
Z = Amount of elevation from the workpiece release position (after release). (mm)
* Since these values are distances in the Z direction of the tool coordinate system, the sign
varies depending on the robot model.
PAC1 When operating by the adsorption of workpiece, the acceleration and the deceleration when moving to the position on the workpiece are set.
X = The acceleration until moving to the position on the workpiece. (1 to 100) (%)
Y = The deceleration until moving to the position on the workpiece. (1 to 100) (%)
* The value set by X coordinates and Y coordinates of “PAC*” is used for <acceleration ratio(%)> of the Accel instruction and
<deceleration ratio(%)>.
The value is reduced when the speed of time
when the robot vibrates and the robot is fast.
When the following values are set:
Amount of elevation of the position where a robot waits until a workpiece arrives
: 50 mm
Amount of elevation from the workpiece suction position (before suctioning)
: -50 mm
Amount of elevation from the workpiece suction position (after suctioning)
: -50 mm
(X, Y, Z, A, B, C) = (+50,-50,-50,+0,+0,+0)
When the following values are set:
Amount of elevation from the workpiece release position (before release)
: -50 mm
Amount of elevation from the workpiece release position (after release)
: -50 mm
(X, Y, Z, A, B, C) = (+0,-50,-50,+0,+0,+0)
When the following values are set:
Acceleration until moving to the position on the workpiece. : 100%
Deceleration until moving to the position on the workpiece. : 100%
(X, Y, Z, A, B, C) =
(+100,+100,+0,+0,+0,+0)
16-78 Setting of adjustment variables in the program
16 Teaching and Setting of Adjustment Variables (“1” Program)
PAC2
PAC3
PAC11
PAC12
When operating by the adsorption of workpiece, the acceleration and the deceleration when moving to the workpiece suction position are set.
X = The acceleration until moving to the workpiece suction position. (1 to 100) (%)
Y = The deceleration until moving to the workpiece suction position. (1 to 100) (%)
When operating by the adsorption of workpiece, the acceleration and the deceleration when moving toward the position on the workpiece are set.
X = The acceleration until moving to the position on the workpiece. (1 to 100) (%)
Y = The deceleration until moving to the position on the workpiece. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the workpiece suction position. : 10%
Deceleration until moving to the workpiece suction position. : 20%
(X, Y, Z, A, B, C) =(+10,+20,+0,+0,+0,+0)
When the following values are set:
Acceleration until moving to the position on the workpiece. : 50%
Deceleration until moving to the position on the workpiece. : 80%
(X, Y, Z, A, B, C) =(+50,+80,+0,+0,+0,+0)
When operating by the release of workpiece, the acceleration and the deceleration when moving to the position on the workpiece are set.
X = The acceleration until moving to the position release position. (1 to 100) (%)
Y = The deceleration until moving to the position release position. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the position on the workpiece : 80%
Deceleration until moving to the position on the workpiece : 70%
(X, Y, Z, A, B, C) =(+80,+70,+0,+0,+0,+0)
When operating by the release of workpiece, the acceleration and the deceleration when moving to the workpiece release position are set.
X = The acceleration until moving to the workpiece release position. (1 to 100) (%)
Y = The deceleration until moving to the workpiece release position. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the workpiece release position. : 5%
Deceleration until moving to the workpiece release position. : 10%
(X, Y, Z, A, B, C) = (+5,+10,+0,+0,+0,+0)
PAC13
PDLY1
When operating by the release of workpiece, the acceleration and the deceleration when moving toward the position on the workpiece are set.
X = The acceleration until moving to the position on the workpiece. (1 to 100) (%)
Y = The deceleration until moving to the position on the workpiece. (1 to 100) (%)
When the following values are set:
Acceleration until moving to the position on the workpiece. : 100%
Deceleration until moving to the position on the workpiece. : 100%
(X, Y, Z, A, B, C) =
(+100,+100,+0,+0,+0,+0)
Set the suction time.
X: Suction time (s).
When setting 0.5 second for the sucking time:
(X, Y, Z, A, B, C) = (+0.5,+0,+0,+0,+0,+0)
PDLY2 Set the release time.
X: Release time (s).
POFSET When the adsorption position shifts, the gap can be corrected. Set the correction value.
* The direction of the correction is a direction of the hand coordinate system. Please decide the correction value after changing the job mode to "Tool", pushing the [+X] key and the
[+Y] key, and confirming the operation of the robot.
When setting 0.3 second for the release time:
(X, Y, Z, A, B, C) = (+0.3,+0,+0,+0,+0,+0)
Setting of adjustment variables in the program 16-79
16 Teaching and Setting of Adjustment Variables (“1” Program)
PTN Set the position of the robot and conveyer, and the direction where the workpiece moves.
X = The following values. (1 to 6)
Setting Conveyer Conveyer value
1
2 position
Front
Front direction
Right to Left
Left to Right
3
4
5
6
Left side
Left
Right side
Right side
Right to Left
Left to Right
Right to Left
Left to Right
When a conveyer is placed in front of the robot and the workpiece moves from the left to right: (When in view of the robot)
(X, Y, Z, A, B, C) = (+1,+0,+0,+0,+0,+0)
The relationship between PRNG and
PTN is shown in “Figure 16
of Relationship between Adjustment
Variables “PRNG” and “PTN” in the
Program”.
PRNG Set range of motion where the robot judges workpiece to be able to follow.
X = The start distance of the range in which the robot can follow a workpiece :(mm)
Y = The end distance of the range in which the robot can follow a workpiece :(mm)
Z = The distance in which follow is canceled
:(mm)
RH-3S*HR)
The singular point neighborhood can be moved in
RH-3S*HR at the joint operation.
However, when the tracking operation passes over the singular point neighborhood for straight line operation, the J1 axis accelerates rapidly and speed limit (H213x error :x= axis number) is generated.
Then, the singular point neighborhood is limited to the tracking by setting this parameter.
X = The Time in which the robot can move over the workpiece :(ms)
Y = The Maximal speed for J3 axis :(mm/s)
Z = The radius of area made singular point neighborhood :(mm)
The relationship between PRNG and
PTN is shown in “Figure 16
of Relationship between Adjustment
Variables “PRNG” and “PTN” in the
Program”.
(X, Y, Z, A, B, C) =
(+800,+1500,+60,+0,+0,+0)
Refer to “Figure 16
Relationship between Adjustment
Variables “PRNG” and “P3HR” in the
16-80 Setting of adjustment variables in the program
16 Teaching and Setting of Adjustment Variables (“1” Program)
<Restrictions of RH-3S*HR when using the tracking function>
The RH-3S*HR can not pass over the singular adjustment point while the tracking operation.
It is necessary to avoid singular adjustment point and place the conveyer.
1 or Figure 162, If the conveyer is installed at right under the robot, the operation range
of tracking must been setting out of range of singular adjustment point.
Conveyer
Workpiece movement direction
600mm
PRNG
X=300mm
PRNG
Y=300mm
Distance that the robot can follow a workpiece calculated by X value, Y value, speed of conveyer, and PUP1 value.
Z=60mm
PRNG
Z=400mm
Figure
16
1
Diagram of Relationship between Adjustment Variables “PRNG” and “P3HR” in the Program
Setting of adjustment variables in the program 16-81
16 Teaching and Setting of Adjustment Variables (“1” Program)
135mm
Conveyer
Workpiece movement direction
Y=200mm
When the conveyer is placed at the right under
the robot and the workpiece moves 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.
Z=230mm
60mm
X= -65mm
PRNG は、(X,Y,Z)=(-65,+200,+230)
<Singular Adjustment Point>
The robot can not pass over the singular adjustment point while the tracking operation.
Y= -95mm
135mm
Conveyer
Workpiece movement direction
60mm
X=230mm
Z= -75mm
When the conveyer is placed at the right under
the robot and the workpiece moves 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)
Figure
16
2
Relationship of singular point neighborhood and tracking area
16-82 Setting of adjustment variables in the program
16 Teaching and Setting of Adjustment Variables (“1” Program)
800mm 400mm
Y=300mm
X=500mm
Z=400mm
Conveyer
X=300mm
Y=100mm
Z=200mm
Conveyer
Workpiece movement direction
Workpiece movement direction
600mm
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)
Conveyer
X=400mm
Workpiece movement direction
Y=200mm
Z=300m
When the conveyer is placed on the left side of
the robot and the workpiece moves from the
front to rear (= the X coordinate of PTN is “4”)
PRNG: (X,Y,Z)=(+400,+200,+300)
When the conveyer is placed in front of the
robot and the workpiece moves from the left to
right (= the X coordinate of PTN is “2”)
PRNG: (X,Y,Z)=(+300,+100,+200)
Workpiece movement direction
Conveyer
Y=300mm
X=500mm
When the conveyer is placed on the right side
of the robot and the workpiece moves from the
rear to front (= the X coordinate of PTN is “5”)
PRNG: (X,Y,Z)=(+500,+300,+400)
Figure
16
3
Diagram of Relationship between Adjustment Variables “PRNG” and “PTN” in the Program
Setting of adjustment variables in the program 16-83
17 Sensor Monitoring Program (“CM1” Program)
17. Sensor Monitoring Program (“CM1” Program)
This chapter provides an overview of “CM1” program, which is run in parallel, when “1” program is run.
Different types of “CM1” programs are used for conveyer tracking and vision tracking, and different processing is performed for them. These programs are explained in the following.
17.1.
Program for Conveyer Tracking
“CM1” program calculates the workpiece coordinates in the robot coordinate system at the moment where a photoelectronic sensor is activated based on the following data acquired with “A1” program and “C1” program, and then stores the coordinates in the tracking buffer(Storage area to preserve data temporarily).
<Acquired data>
Amount of robot movement per encoder pulse (P_EncDlt)
Difference between the encoder value when a photoelectronic sensor is activated and the encoder value when teaching is performed on a robot
Position at which the robot is taught to grab a workpiece
17.2.
Program for Vision Tracking
“CM1” program converts the workpiece position recognized by the vision sensor to the corresponding coordinates in the robot coordinate system based on the following data acquired with “A1” program, “B1” program and “C1” program, and then stores the coordinates in the tracking buffer.
<Acquired data>
Amount of robot movement per encoder pulse(P_EncDlt)
Difference between the encoder value when a marking sticker is on the vision sensor side and the encoder value when the marking sticker is on the robot side
Workpiece position recognized by the vision sensor
Difference between the encoder value when the vision sensor recognizes a workpiece and the encoder value when teaching on the workpiece position was performed on the robot
Position at which the robot is taught to grab a workpiece
The timing at which the vision sensor acquires images is calculated such that images of the same workpiece are taken at least once or up to twice by the following data specified in “C1” program.
<Data specified in “C1” program>
Field of view in the conveyer movement direction
Length of workpieces detected by a vision sensor (length in the conveyer movement direction)
POINT
“1” program follows workpieces on a conveyer based on the workpiece information stored in the tracking buffer in “C” program.
“C” program performs processing until the recognized workpiece position is stored in the tracking buffer. The workpiece information stored in the tracking buffer is read by “1” program and the robot follows workpieces on the conveyer based on the information.
17-84 Program for Conveyer Tracking
18 Automatic Operation
18. Automatic Operation
This chapter explains how to prepare the robot before starting the system.
18.1. Preparation
1) Check that there is no interfering object within the robot movement range.
2) Prepare to run the desired program.
Note) When your controller has no operation panel, use the dedicated external signals corresponding to the following step to operate the robot.
Although the image of the operation panel is the robot controller, the operation method is the same in other controllers.
T/B disabled
Controller enabled
Set the T/B [ENABLE] switch to "DISABLE".
Servo ON
Selection of a program number
Display of a program number
Selection of a program number
Set the controller
[MODE] switch to
"AUTOMATIC".
Press the [SVO ON] key, the servo will turn ON, and the SVO ON lamp will light.
Press the [CHNG DISP] key and display
"PROGRAM NO." on the STATUS NUMBER display.
Press the [UP] or the
[DOWN] key and display program name"1."
Preparation 18-85
18 Automatic Operation
18.2. Execution
1)Be sure that you are ready to press the [Emergency Stop] button of T/B in the case of any unexpected movement of the robot.
2)Run the program from the operation panel of the robot controller.
Note) The robot of the specification without the operation panel of the controller operates by the external signal corresponding to the following step.
Although the image of the operation panel is the robot controller, the operation method is the same in other controllers.
Start of automatic operation
Start
Press the [START] key.
18.3. At error occurrence
If the robot moves erroneously, refer to separate manual “Troubleshooting”.
18.4. Ending
The robot does not move unless a sensor that monitors workpieces is activated or a vision sensor recognizes a workpiece. Stop the flow of workpieces from the upstream and press the [STOP] button of the operation panel of the robot controller. Confirm that the [STOP] lamp is turned on.
Note) The robot of the specification without the operation panel of the controller is stopped by the external signal.
18.5. Adjusting method
You can confirm the follow operation by automatic driving.
Refer to "Maintenance of robot program" in Chapter 19 when you want to adjust it.
And, refer to "In such a case (improvement example)" in Chapter 20.3.
18-86 Execution
19 Maintenance of robot program
19.
Maintenance of robot program
This chapter explains information required when maintaining the sample programs (robot program language
MELFA-BASIC V and dedicated input/output signals).
19.1.
MELFA-BASIC V Instructions
The lists of instructions, status variables and functions related to tracking operation are shown below.
Please refer to the separate manual “Detailed Explanations of Functions and Operations” for further information about MELFA-BASIC V.
19.1.1. List of Instructions
Instruction name
TrBase
TrClr
Trk
TrOut
TrRd
TrWrt
Table
19
1
List of Instructions
Function
Specify the workpiece coordinate origin of teaching data and tracking external encoder logic number.
Clear the tracking data buffer.
Declare start and end of the tracking mode.
Output signals from a general-purpose output and read the encoder values.
Read workpiece data from the tracking data buffer.
Write workpiece data in the tracking data buffer.
19.1.2. List of Robot Status Variables
Table
19
2
List of Robot Status Variables
Variable name
M_Enc
Number of arrays number of encoders
1 to 8
M_EncL Number encoder of
1 to8
※
Function
External encoder data
External encoder data can be rewritten.
If this state variable does not set parameter
“TRMODE" to “1", the value becomes like “0".
The stored encoder data
Possible to use from R1 and S1
Attribute
(*1)
Data type
R/W Double-precisio n real number
R/W Double-precisio n real number
P_EncDlt number of encoders
1 to 8
M_Trbfct buffer No.
1 to The first argument of parameter
[TRBUF]
P_Cvspd number of encoders
1 to 8
M_EncMax number of encoders
1 to 8
M_EncMin number of encoders
1 to 8
M_EncSpd number of encoders
1 to 8
M_TrkCQ mechanism No.
1 to 3
※
0 always returns in S1.
Amount of robot movement per encoder pulse
*This state variable is made by sample “A1” program.
Number of data items stored in the tracking buffer
Conveyer speed (mm, rad/sec)
The maximum value of external encoder data
The minimum value of external encoder data
(*1)R: Only reading is permitted.
R/W Position
R
R
R
R
Integer
Position
Double-precisio n real number
Double-precisio n real number
Single-precision real number
Tracking operation status of specified mechanism
1: Tracking
0: Not tracking
R Integer
R/W: Both reading and writing are permitted.
MELFA-BASIC V Instructions 19-87
19 Maintenance of robot program
19.1.3. List of Functions
Function name
Poscq(<position>)
TrWcur(<encoder number>,
<position>,<encoder value>)
TrPos(<position>)
Table
19
3
List of Functions
Function
Check whether the specified position is within the movement range.
1: Within the movement range
0: Outside the movement range
Obtain the current position of a workpiece.
<number of encoders>
1 to 8
Acquire the coordinate position of a workpiece being tracked.
Trk On P0,P1,1,M1#
PC2=TrPos(P2)
PC2 above is obtained in the following manner.
PC1=P1+P_EncDlt*(M_Enc-M1#) ‘ The current position of P1
PC2=PC1*(P_Zero/P0*P2)
19.1.4. Explanation of Tracking Operation Instructions
The instructions related to tracking operations are explained in details below.
The explanations of instructions are given using the following format.
[Function] : Describes the function of an instruction.
[Format] : Describes the entry method of arguments of an instruction.
< > indicate an argument.
[ ] indicates that entry can be omitted.
indicate that space is required.
[Term] : Describes meaning, range and so on of an argument.
[Example] : Presents statement examples.
[Explanation] : Provides detailed function descriptions and precautions.
Result
Integer
Position
Position
19-88 MELFA-BASIC V Instructions
19 Maintenance of robot program
TrBase (tracking base)
[Function]
Specify the workpiece coordinate system origin during the teaching operation and the encoder logic number of an external encoder used in tracking operation.
[Format]
TrBase <Reference position data> [ , <Encoder logic number>]
[Term]
<Reference position data> (can be omitted):
Specify the origin position of position data to be followed during the tracking mode.
<Encoder logic number> (can be omitted):
This is a logic number indicating the external encoder that performs tracking operation.
1 is set when this argument is omitted.
Setting range: 1 to 8
[Example]
1 TrBase P0
2 TrRd P1,M1,MKIND ' Read the workpiece position data from the data buffer.
3 Trk On,P1,M1
' Specify the workpiece coordinate origin at the teaching position.
' Start tracking of a workpiece whose position measured by a sensor is P1 and
4 Mvs P2
5 HClose 1
6 Trk Off
[Explanation] encoder value at that time is M1.
' Setting the current position of P1 as P1c, make the robot operate while following workpieces with the target position of P1c*P_Zero/P0*P2.
' Close hand 1.
' End the tracking operation.
Specify the workpiece coordinate system origin during the teaching operation and the logic number of an external encoder used in tracking operation.
If an encoder logic number is omitted, the previously specified value 1 is set.
The reference position data and encoder number are set to their initial values until they are specified by the TrBase instruction or the Trk On instruction. The initial value is P_Zero for the reference position data and 1 for the encoder number.
Describes the relationship of “TrBase” and “Trk” and “Mvs P2”.
Search area of Vision sensor
M1
P0 : Teaching position in “C1” program.
P1 : Workpieace position when captured from vision sensor in “CM1” program
P1c : Current Workpiece position. M1c : Current encoder value
M1 : Encoder value when captured from vision sensor in “CM1” program
P2 : Target position
P1
Origin of tracking
P2
M1c
P1c
Inv(P0)
P0
Workpiece movement direction
MELFA-BASIC V Instructions 19-89
19 Maintenance of robot program
TrClr (tracking data clear)
[Function]
Clears the tracking data buffer.
[Format]
TrClr [<Buffer number>]
[Term]
<Buffer number> (cannot be omitted):
Specify the number of a general-purpose output to be output.
Setting range:1 to 4 (The first argument of parameter [TRBUF])
[Example]
1 TrClr 1
2 *LOOP
3 If M_In(8)=0 Then GoTo *LOOP
' Clear tracking data buffer No. 1.
4 M1#=M_Enc(1)
5 TrWrt P1, M1#,MK
' Jump to *LOOP if input signal No. 8, to which a photoelectronic
sensor is connected, is OFF.
' Acquire data of encoder number 1 at the time when input signal
No. 8 is turned on and store it in M1#.
' Write workpiece position data P1, encoder value M1# at the time
an image is acquired and model number MK in the buffer.
[Explanation]
Clear information stored in specified tracking buffer (1 to 4).
Execute this instruction when initializing a tracking program.
19-90 MELFA-BASIC V Instructions
19 Maintenance of robot program
Trk (tracking function)
[Function]
After Trk On is executed, the robot goes into the tracking mode and operates while following the conveyer operation until Trk Off is executed.
[Format]
Trk On[,<Measurement position data>[,[<Encoder data>][,[<Reference position data>][,[<Encoder logic number>] ] ] ] ]
Trk Off
[Term]
<Measurement position data> (can be omitted):
Specify the workpiece position measured by a sensor.
<Encoder data> (can be omitted):
Specify a value of an encoder installed on a conveyer when a workpiece is measured.
<Reference position data> (can be omitted):
Specify the origin position of position data to be followed during the tracking mode.
If this argument is omitted, the robot follows the conveyer using the position specified by the TrBase instruction as the origin.
The initial value is PZERO.
<Encoder logic number> (can be omitted):
This is a logic number indicating the external encoder that performs tracking operation.
1 is set when this argument is omitted.
Setting range: 1 to 8
[Example]
1 TrBase P0 ' Specify the workpiece coordinate origin at the teaching position.
2 TrRd P1,M1,MKIND ' Read the workpiece position data from the data buffer.
3 Trk On,P1,M1
4 Mvs P2
' Start tracking of a workpiece whose position measured by a sensor is P1 and encoder value at that time is M1.
' Setting the current position of P1 as P1c, make the robot operate while following workpieces with the target position of P1c*P_Zero/P0*P2 (P2 indicates the
5 HClose 1
6 Trk Off
[Explanation]
Specify the position relative to the position data specified by Trk On as show in line 20 of the statement example for the target position of the movement instruction during tracking operation.
CAUTION
workpiece grabbing position).
' Close hand 1.
' End the tracking operation.
A target position that moves in the tracking is calculated based on the workpiece position when Trk On.
The H2802 error might occur when a target position doesn't exist in the robot range at the time of Trk On.
Please execute Trk Off before the movement to the target position when the error occurs.
And, please execute Trk On again.
“P_Zero/P0” in ”P1c*P_Zero/P0*P2” in [Example] can be replaced with INV(P0).
CAUTION
•S/W Ver.R1 or later (SQ series) ,S1 or later (SD series), CR750/CR751 series.
When Hlt command is executed during tracking movement, tracking movement will be stopped (an equivalent for the Trk Off command) and execution of the program will be interrupted. In use of the multi-mechanism, tracking movement is stopped to the robot of the mechanism number got by the GetM command. When you continue tracking movement by the restart (continuation), please create the program to execute the Trk On command.
•S/W Ver. before R1 (SQ series), before S1 (SD series)
When Hlt command is executed during tracking movement, execution of the program will stop, but continue the conveyor tracking movement. When you stop tracking movement, please execute the Trk Off command before executing Hlt command.
MELFA-BASIC V Instructions 19-91
19 Maintenance of robot program
TrOut (reading tracking output signal and encoder value)
[Function]
Read a tracking output value specified by a general-purpose output and read the value of an external encoder synchronously with the output.
[Format]
TrOut <Output number>, <Encoder 1 value read variable> [ , [<Encoder 2 value read variable>]
[ , [<Encoder 3 value read variable>] [ , [<Encoder 4 value read variable>]
[ , [<Encoder 5 value read variable>] [ , [<Encoder 6 value read variable>]
[ , [<Encoder 7 value read variable>] [ , [<Encoder 8 value read variable>] ]]]]]]]
[Term]
<Output number> (cannot be omitted):
Specify the number of a general-purpose output to be output.
<Encoder n value read variable> (can be omitted):
Specify a double-precision value variable in which read values of an external encoder are stored.
Note) n is a value in the range from 1 to 8.
[Example]
1 *LOOP1
2 If M_In(10) <> 1 GoTo *LOOP1 ' Check whether a photoelectronic sensor is activated.
3 TrOut 20, M1# , M2# ' Output from general-purpose output No. 20 and store the value of external encoder No.1 in M1#, and store the value of external encoder
No.2 in M2# synchronously with the output.
4 *LOOP2
5 If M_In(21) <> 1 GoTo *LOOP2 ‘ Wait until the signal (general-purpose input No.21) which shows acquiring image from the vision sensor is turned on.
6 M_Out(20)=0 ‘ Turn off the No.20 general-purpose output.
[Explanation]
This instruction is used when triggering the vision sensor that calculates positions of workpieces to be tracked.
It is possible to know the position where workpiece images are acquired by obtaining the external encoder values synchronously with the output.
The general-purpose output signal specified <Output number> is maintained. Therefore, please turn off the signal by using the M_Out state ariable when you confirm acquiring of the vision sensor.
19-92 MELFA-BASIC V Instructions
19 Maintenance of robot program
TrRd (reading tracking data)
[Function]
Read position data for tracking operation, encoder data and so on from the data buffer.
[Format]
TrRd <Position data> [ , <Encoder data>] [ , [<Model number>] [ , [<Buffer number>] [ , <Encoder number>] ] ] ]
[Term]
<Position data> (cannot be omitted):
Specify a variable that contains workpiece positions read from the buffer.
<Encoder data> (can be omitted):
Specify a variable that contains encoder values read from the buffer.
<Model number> (can be omitted):
Specify a variable that contains model numbers read from the buffer.
<Buffer number> (can be omitted):
Specify a number of a buffer from which data is read.
1 is set if the argument is omitted.
Setting range: 1 to 4(The first argument of parameter [TRBUF])
<Encoder number> (can be omitted):
Specify a variable that contains values of external encoder numbers read from the buffer.
[Example]
(1) Tracking operation program
1 TrBase P0 ' Specify the workpiece coordinate origin at the teaching position.
2 TrRd P1,M1,MK ' Read the workpiece position data from the data buffer.
3 Trk On,P1,M1 ' Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1.
4 Mvs P2
5 HClose 1
6 Trk Off
' Setting the current position of P1 as P1c, make the robot operate while following workpieces with the target position of P1c*P_Zero/P0*PW2.
' Close hand 1.
' End the tracking operation.
(2) Sensor data reception program
1 *LOOP
2 If M_In(8)=0 Then GoTo *LOOP
3 M1#=M_Enc(1)
4 TrWrt P1, M1#,MK
' Jump to *LOOP if input signal No. 8, to which a photoelectronic sensor is connected, is OFF.
' Acquire data of encoder number 1 at the time when input signal No. 8 is turned on and store it in M1#.
' Write workpiece position data P1, encoder value M1# at the time an image is acquired and model number MK in the buffer.
[Explanation]
Read the workpiece position (robot coordinates), encoder value, model number and encoder number stored by the TrWrt instruction from the specified buffer.
If the TrRd instruction is executed when no data is stored in the specified buffer, Error 2540(There is no read data) occurs.
MELFA-BASIC V Instructions 19-93
19 Maintenance of robot program
TrWrt (writing tracking data)
[Function]
Write position data for tracking operation, encoder data and so on in the data buffer.
[Format]
TrWrt <Position data> [ , <Encoder data>] [ , [<Model number>] [ , [<Buffer number>] [ , <Encoder number>] ] ] ]
[Term]
<Position data> (cannot be omitted):
Specify the workpiece position measured by a sensor.
<Encoder data> (can be omitted):
Specify the value of an encoder mounted on a conveyer at the time a workpiece is measured.
The encoder value acquired in the M_Enc() state variable and the TrOut instruction is specified usually.
<Model number> (can be omitted):
Specify the model number of workpieces.
Setting range: 1 to 65535
<Buffer number> (can be omitted):
Specify a data buffer number.
1 is set if the argument is omitted.
Setting range: 1 to 4(The first argument of parameter [TRBUF])
<Encoder number> (can be omitted):
Specify an external encoder number.
The same number as the buffer number is set if the argument is omitted.
Setting range: 1 to 8
[Example]
(1) Tracking operation program
1 TrBase P0 ' Specify the workpiece coordinate origin at the teaching position.
2 TrRd P1,M1,MKIND ' Read the workpiece position data from the data buffer.
3 Trk On,P1,M1
4 Mvs P2
' Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1.
' Setting the current position of P1 as P1c, make the robot operate while
5 HClose 1
6 Trk Off following workpieces with the target position of P1c*P_Zero/P0*PW2.
' Close hand 1.
' End the tracking operation.
(2) Sensor data reception program
1 *LOOP
2 If M_In(8)=0 Then GoTo *LOOP
3 M1#=M_Enc(1)
4 TrWrt P1, M1#,MK
' Jump to +LOOP if input signal No. 8, to which a photoelectronic sensor is connected, is OFF.
' Acquire data of encoder number 1 at the time when input signal No. 8 is turned on and store it in M1#.
' Write workpiece position data P1, encoder value M1# at the time an image is acquired and model number MK in the buffer.
[Explanation]
This function stores the workpiece position (robot coordinates) at the time when a sensor recognizes a workpiece, encoder value, model number and encoder number in the specified buffer.
Arguments other than the workpiece position (robot coordinates) can be omitted. If any of the arguments are omitted, the robot operates while following changes of position data.
Workpieces within the same workpiece judgment distance set in the “TRCWDST” parameter are regarded as the same workpiece. Even if the data is written twice in the buffer with the TrWrt instruction, only one data set is stored in the buffer. For this reason, data for one workpiece only is read with the
TrRd instruction even if images of the same workpiece are acquired twice with a vision sensor.
19-94 MELFA-BASIC V Instructions
19 Maintenance of robot program
M_EncL (Latched Encoder data)
[Function]
At the instant of receipt of a TREN signal for Q17EDPX module, a stored encoder data is read.
Also, 0 is written to clear the stored encoder data to zero.
[Format]
Example)<Numeric Variable>=M_EncL[(<logic encoder number>)] --------referencing
M_EncL[(<logic encoder number>)]=<Constants> --------writing
[Terminology]
<Numeric Variable> Specify the numerical variable to substitute.
Available argument type
Integer
Numeric value
Real
Double-precision number real number
Position Joint
Character string
Variable
○ ○ ○
○:
Available -
: Not a vailable
( syntax error at input time)
○
(member data)
○
(member data)
-
Error 4220
<logic encoder number> (can be omitted) Specify the value of an logic encoder number
Available argument type
Integer
Numeric value
Real number
Double-precision real number
Position Joint
Character string
Constants
Variable
○
○
○
Rounding
○
Rounding
○
Rounding
○
Rounding
- - -
Error 4220
○
(member data)
○
(member data)
-
Error 4220
○:
Available -
:
Not a vailable
( syntax error at input time)
<Constants> Specify the stored encoder data to initial value(zero or other).
Available argument type
Integer
Numeric value
Real number
Double-precision real number
Position Joint
Character string
Constants
Variable
○
○
○
○
○ -
Error 4220
-
Error 4220
○ ○
(member data)
○
(member data)
-
Error 4220
-
Error 4220
○:
Available -
: Not a vailable
( syntax error at input time)
[Reference Program]
1 MENC1#=M_EncL(1) At logic encoder number 1, assign encoder data stored at the time of receipt of a TREN signal to the variable MENC1#.
2 MENC2#=M_EncL(M1%) At a logic encoder number specified in the variable M1%, assign encoder data stored at the time of receipt of a TREN signal to the variable MENC2#.
3 TrWrt P1, MEncL(1), MK Write work position data P1, encoder value M_EncL(1) present at the time of receipt of a TREN signal and work category number MK onto the buffer 1 for tracking.
4 M_EncL(1)=0 Use latched data to clear the encoder to zero as it is not required until next
latched data is used.
[Explanation]
• Stored encoder value corresponding to the encoder number being specified in <logical encoder number> is acquired.
Encoder value is stored in memory at a low-to-high or high-to-low transition of TREN signal which has been specified with a DIP switch on Q17EDPX module.
Encoder value thus acquired is written onto the buffer for tracking by using a TrWr command so as to perform tracking operations.
MELFA-BASIC V Instructions 19-95
19 Maintenance of robot program
• As encoder value is in double-precision real number, specify <numerical variable> with a variable which is of double-precision real-number type.
• You can omit the step to specify <logic encoder number> . When it is omitted, logic encoder number will be treated as "1."
• Number which you can enter to specify <logic encoder number> is an integer in the range of "1" to "8."
Entering anything else causes L3110 (Out-of-range Argument) error to occur.
* If a number having a decimal part is entered, the fraction of 0.5 or over will be counted as one and the rest will be cut away.
• As latched encoder data represents a value present at a low-to-high or high-to-low transition of TREN signal, you should check input corresponding to input number in 810 to 817 range which has been assigned to
TREN signal when reading it out.
• You can clear the encoder to zero by typing "0" after having used latched encoder data. This step may be performed as a precaution against using previously latched data.
19-96 MELFA-BASIC V Instructions
19 Maintenance of robot program
19.2.
Timing Diagram of Dedicated Input/Output Signals
19.2.1. Robot Program Start Processing
The signal timing when a robot program is started from an external device is shown below.
PLC
Robot
① ② ③ ④
H
Turning servo ON
(
SRVON)
L
Servo ON
(SRVON)
H
L
Program selectable
(SLOTINIT)
H
L
Program reset
(SLOTINIT)
H
L
Operating
(START)
Start
(START)
H
L
H
L
Stop
(STOP)
H
L
PLC sets “servo ON H” when it detects “turning servo ON L.” The robot turns the servo power supply on and sets “turning servo ON H.” PLC acknowledges “turning servo ON H” and sets “servo ON L.”
PLC sets “program reset H” upon receiving “program selectable L.” The robot returns to the beginning of the program and sets “program selectable H” when the program becomes ready to be started. PLC sets
“program reset L” when it detects “program selectable H.”
PLC acknowledges “turning servo ON H,” “program selectable H” and “operating L” and sets “start H.”
The robot sets “program selectable L” and “operating H” when it detects “start H.” PLC confirms
“operating H” and sets “start L.”
If a stop signal is input, the following processing is performed.
Upon receiving “stop H” from PLC, the robot sets “operating L.”
Timing Diagram of Dedicated Input/Output Signals 19-97
20 Troubleshooting
20.
Troubleshooting
This section explains causes of error occurrence and actions to be taken.
20.1.
Occurrence of Error Numbers in the Range from 9000 to 9999
This section describes causes of errors that may occur while starting a program and how to handle them.
Table
20
1
List of Errors in Sample Programs
Error number
9101
Error description
Encoder number out of range
Causes and actions
9100 Communication error
[Causes]
The network vision sensor and the robot cannot be connected by the
“C1” program or the robot cannot log on the vision sensor.
[Actions]
1)
Check the Ethernet cable which connects the robot with the network vision sensor.
[Causes]
The encoder number specified in “A1” program to “C1” program is ”0” or ”9” or larger.
[Actions]
1)
Check the X coordinate of the position variable ”PE” in the programs.
9102 Model number out of range
[Causes]
The model number specified in “C1” program is ”0” or ”10” or larger.
[Actions]
1)
Check the X coordinate of the position variable “PRM1” in “C1” program.
2)
If there are more than 11 models, change “MWKMAX=10” line in
“C1” program. out of range The workpiece position calculated by operations in “A1” program to “C1” program is very different from the theoretical value.
The example is shown in (*1).
[Actions]
1)
Check the X and Y coordinates of the position variable ”PVTR” in
“CM1” program. These values represent the difference from the theoretical value.
2)
If the difference stored in “PVTR” is large, run “A1” program to “C1” program again.
3)
Please add the value of positional variable “PCHK" in the 'CM1' program when the hand offsets from time when the calibration was executed and add the amount of the offset.
4) Check that the X and Y coordinates of the position variable ”PCHK” in “CM1” program are not ”0.” If they are ”0,” change the difference from the theoretical value to an allowable value. error [Causes]
A return value cannot be created by the *S50WKPOS function of “1” program.
[Actions]
1)
Check the reason why “MY50STS” of the *S50WKPOS function in “1” program does not change from”0”.
20-98 Occurrence of Error Numbers in the Range from 9000 to 9999
20 Troubleshooting
(*1) About the factor that the L9110 error occurs
Positional variable “PVTR" in ‘CM1’ program is calculated based on the setting of the A1-C1 program.
The calculation result is a difference between the position of [+] mark set with the vision sensor and the position taught by the 'C1' program.
And, the L9110 error occurs when the difference exceeds the numerical value specified for positional variable
“PCHK".
Therefore, there is a possibility that the L9110 error occurs in the following cases.
[a] The position taught by the 'C1' program shifts to [+] mark specified with the vision sensor.
For instance, when the vision sensor output the triangular top, ● sign was taught in the 'C1' program.
In this case, the difference is recognized as a gap.
[b] There is a difference to the flange and each hand of the robot in the gap for the multi hand.
The calibration executed by using the 'B1' program, the calibration treatment device is used.
It is installed in the flange of the robot. The position that the vision sensor outputs becomes the flange position of the robot.
However, when teaching by the 'C1' program, the gap is caused there to use and to teach the hand.
[c] In the setting of 'A1' - 'C1' program, some mistakes are found.
“P_EncDlt()" (the amount of the movement of the robot per a pulse) in the 'A1' program is an unexpected value.
Or, in the 'B1' program, the direction of three points specified by the calibration was different or it was the inputting error of coordinates.
Occurrence of Error Numbers in the Range from 9000 to 9999 20-99
20 Troubleshooting
20.2.
Occurrence of Other Errors
Table
20
2
List of Tracking relation Errors
Error number
Error description encoder data error
Causes and actions
[Causes]
The data of the tracking encoder is abnormal.
(The amount of the change is 1.9 times or more.)
[Actions]
1) Check the conveyor rotates at the fixed velocity.
2)
Check the connection of the encoder.
3)
Check the earth of the earth wire.
L2510 Tracking reverses parameter [Causes]
Tracking parameter[EXCRGMN] and [EXCRGMX] Setting value reverses
[Actions]
L2520 Tracking parameter is range over
1) Check the value of [ENCRGMX] and [ENCRGMN] parameters.
[Causes]
The set value is outside the range parameter [TRBUF]. The first argument is 1 to 8, and the second argument is 1 to 64.
[Actions]
1) Check the value of [TRBUF] parameter.
L2530
L2540
L2560
There is no area where data is written
[Causes]
The data of the size or more of the buffer in which the TrWrt command was continuously set to the second argument of parameter [TRBUF] was written.
[Actions]
1) Check the execution count of the TrWrt command is correct.
2) Check the value of the second argument of parameter [TRBUF] is correct.
3) Check that the X and Y coordinates of the position variable ”PCHK” in “CM1” program are not ”0.” If they are ”0,” change the difference from the theoretical value to an allowable value.
There is no read data [Causes]
The TrRd command was executed in state the data is not written in tracking buffer.
[Actions]
1) Execute the TrRd command after confirming whether the buffer has the data with the state variable [M_Trbfct].
Illegal parameter of
Tracking
2) Confirm whether the buffer number specified by the buffer number specified in TrWrt Mende and the TrRd command is in agreement.
[Causes]
The value set as the parameter [EXTENC] is outside the range. The ranges are 1-8.
[Actions]
Please confirm the value set to Parameter [EXTENC].
Please confirm whether the Q173DPX unit is installed in the slot specified for parameter "ENCUNITn" (n=1-3).
Please confirm whether slot 0-2 of a basic base is not specified by setting the parameter.
Please confirm whether the setting of "Management CPU" that exists in
"I/O unit and intelligent function unit details setting" of the parameter of the sequencer and specification of parameter "ENCUNITn" (n=1-3) are corresponding. There is a possibility Q173DPX is not robot CPU management.
L2570 Installation slot error. [Causes]
Q173DPX is installed in slot 0-2 of a basic base.
[Actions]
Slot 0-2 of the basic base is basically only for CPU. Please install
Q173DPX since slot3.
20-100 Occurrence of Other Errors
20 Troubleshooting
Error number
L3982
Error description Causes and actions
L6632
Cannot be used
(singular point)
Input TREN signal cannot be written
[Causes]
1) This robot does not correspond to the singular point function
2) Cmp command is executed
3) A synchronous addition axis control is effective
4) Tracking mode is effective
5) Pre-fetch execution is effective
6) This robot is a setting of the multi mechanism
7) ColChk On command is executed
[Actions]
1) Check the argument of Type specification
2) Invalidate a compliance mode (execute Cmp Off)
3) Invalidate a synchronous addition axis control
4) Invalidate a tracking mode (execute Trk Off)
5) Invalidate a pre-fetch execution
6) Do not use the function of passage singular point
7) Invalidate a collision detection (execute ColChk Off)
[Causes]
During the actual signal input mode, external output signal 810 to 817
(TREN signal) cannot be written.
[Actions]
1) Use an real input signal (TREN signal)
Please refer to separate manual “Troubleshooting”.
Occurrence of Other Errors 20-101
20 Troubleshooting
20.3. In such a case (improvement example)
Explain the improvement example, when building the tracking system using the sample robot program.
20.3.1. The adsorption position shifts.
When the place that shifts from the specified adsorption position has been adsorbed, the cause is investigated according to the following procedures.
start
Check the position gap
The position doesn't shift.
The position shifts.
【 confirmation 1】
Confirm whether neither the encoder nor the conveyer slip.
Adjustment completion
Check the
Slip of enc slip
Not slip
【 confirmation 2】
Check whether to recognize the image center correctly.
Fix the encoder
Check the vision
Recognition is defective. correctly recognizes
Change the setting of the vision sensor.
【 confirmation 3】
Check whether the calibration is correct.
Check the calibration
Not correct correct
Do the work of the ‘B1’ program again.
1
20-102 In such a case (improvement example)
20 Troubleshooting
1
【 confirmation 4】
Check the case where work at the center of view is recognized.
The gap is
irregular.
Do the work of the ‘A1’ program again.
Confirm of gap tendency
The gap is constant.
Do the work of the ‘C1’ program again. start
The position shifts when the speed of the conveyer is fast.
Check the shifts
The position doesn't shift.
【 confirmation 5】
Adjust taking picture with the timing of the encoder input.
Adjustment completion
The gap is constant.
The position doesn't shift.
Check the shifts
The gap is constant.
Adjustment completion
【 confirmation 7】
Adjustment by parameter
"TRPACL" and "TRPDCL"
【 confirmation 6】
Adjustment by parameter "TRADJ1" start
End
【 confirmation 1】
1) Stop the conveyer.
2) Confirm the disk installed in the rotary encoder has come in contact with the conveyer.
3) Confirm whether the disk installed in the encoder rotates when the conveyer is made to work.
【 confirmation 2】
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) In In-Sight Explorer(EasyBuilder), click the “Set Up Image” from the “Application Steps”. And, set
"Calibration Type" displayed in the lower right of the screen to "None".
4) Confirm workpiece is recognized by starting the job, and the recognition result (pixel level) is correct.
(example)
When the center of view is recognized, the result of (320,240) is displayed when pixels are
640×480 vision sensors.
5) Arrange workpieces on four corners.
6) Confirm whether the workpieces put on four corners of the image is recognized similar and correctly.
In such a case (improvement example) 20-103
20 Troubleshooting
【 confirmation 3】
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) In In-Sight Explorer(EasyBuilder), click the “Set Up Image” from the “Application Steps”.
Set "Calibration Type" displayed in the lower right of the screen to "Import".
Specify the file that exported when the calibration is done to "File Name".
4) Confirm workpiece is recognized by starting the job, and the recognition result (robot coordinate) is correct.
(example)
(+0, +0) is displayed as a recognition result when assuming that the robot coordinates are set as follows when the calibration is done by using the calibration seat, and using a ○ sign in four corners.
(the first point xy) (the second point xy)(the third point xy)(the fourth point xy)
= (+100,+100), (+100,-100), (-100,+100), and (-100,-100)
5) Arrange workpieces on four corners.
6) Confirm whether the workpieces put on four corners of the image is recognized similar and correctly.
The recognition result becomes (+100,+100), (+100,-100), (-100,+100), and (-100,-100).
【 confirmation 4】
1) Stop the conveyer.
2) Put workpiece on the center of the vision view.
3) Change X coordinates of PDLY1 in ‘1’ program to a big value like the “10" second etc.
4) Start ‘1’ program, and start the conveyer in low-speed.
5) Stop the conveyer because it keeps following during the “10" second in the place where the robot moved to the adsorption position. And, stop ‘1’ program.
6) Confirm whether the position in which the robot adsorbs workpiece is correct.
7) Confirm the tendency to a positional gap repeating this work several times.
【 confirmation 5】
1) Stop the conveyer.
2) Start the ‘1’ program, and start the conveyer in the speed that you want.
3) Flow workpiece.
4) Stop the conveyer because it keeps following during the “10" second in the place where the robot moved to the adsorption position. And, stop ‘1’ program.
5) Confirm the position in which the robot adsorbs workpiece.
<The position shifts in shape to adsorb the rear side of work >
Please adjust < delay time of NvTrg command used because of the 'CM1' program >.
Please adjust the encoder value specified by the TrWrt command as < delay time > “0" when the adjustment by < delay time of NvTrg command > is difficult.
For instance, the 'CM1' program is changed as follows and the numerical value (for instance, following “500") is adjusted.
MENCDATA#=MTR1#+500
TrWrt PRW, MENCDATA#, MWKNO,1,MENCNO
【 confirmation 6】
1) Change parameter "TRADJ1", and adjust a positional gap.
【 confirmation 7】
1) Change parameter "TRPACL" and "TRPDCL" to make the follow speed of the tracking fast.
Note it though the load factor of each axis of the robot goes up.
Confirm the state of the load of each axis by "Load factor monitor" of RT ToolBox2.
20-104 In such a case (improvement example)
20 Troubleshooting
20.3.2. Make adsorption and release of the work speedy
In the tracking system, adsorption confirmation of the work may be unnecessary. In that case, processing of adsorption and release can be made speedy by the following methods.
(1)
Adjust adsorption time and release time.
Adjust the adjustment variable "PDLY1", and the value of X coordinates of "PDLY2" of the
program 1. Refer to "Table 161 List of Adjustment Variables in Programs" for the adjustment
method.
20.3.3. Make movement of the robot speedy.
Adjust the following setting to make movement of the robot speedy.
(1)
Adjust the acceleration and the deceleration time for the tracking by using the parameter.
Acceleration and the deceleration of the follow operation can be done fast by reducing the value of each element of parameter "TRPACL" and "TRPDCL".
(example)
For the robot of the RH type (X,Y,Z,A,B,C) = (0.2, 0.2, 1.0, 1.0, 1.0, 1.0) : X and Y are changed.
For the robot of the RV type (X,Y,Z,A,B,C) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0) : X, Y, and Z are changed.
(2) Adjustment of the optimal acceleration-and-deceleration setting
Set mass, size, and center of gravity of the hand installed in the robot as the parameter
"HNDDAT1." And, set mass, size, and center of gravity of the work as the parameter
"WRKDAT1."
By this setting, the robot can move with the optimal acceleration and deceleration and speed.
Refer to "Table 112 List of Operation Parameter" for setting method.
(3)
Adjustment of carrying height
By making low distance at adsorption and release of robot, the moving distance decreases and motion time can be shortened as a result. Refer to the adjustment variable of "PUP1"and
"PUP2" in the "Table 161 List of Adjustment Variables in Programs" for change of rise distance.
20.3.4. The robot is too speedy and drops the work.
Since the robot's acceleration and deceleration are speedy, drop the work, adjustment is necessary.
Refer to the adjustment variable of 「PAC1」 to「PAC3」 and 「PAC11」 to 「PAC13」 in the "Table
1 List of Adjustment Variables in Programs" for the adjustment method of the acceleration and
deceleration.
In such a case (improvement example) 20-105
20 Troubleshooting
20.3.5. Restore backup data to another controller
The status variable "P_EncDlt" is not saved in the backup data from tracking system robot controller.
To generate the value of "P_EncDlt", execute the "P_EncDlt(MENCNO) =PY10ENC" command of
"Program A" by step forward. (Moving distance per one pulse)
20.3.6. Circle movement in tracking.
Screw fastening and decoration on the work, etc are available in the tracking system. Here, explain the example which draws the circle on the basis of the adsorption position.
<Conditions>
*The adsorption position taught by Program C is the starting point of the circle.
*The offset from the adsorption position of pass and end position of circle decided as follows.
POF1=(+50,+50,0,0,0,0,0,0)(0,0)......Relative distance to pass position from adsorption position.
POF2=(0,+100,0,0,0,0,0,0)(0,0)........Relative distance to end position from adsorption position
*Create PGT1 (pass point) and PGT2 (end point) from the relative distance.
*Use the Mvr command (circle command) and move on the circle of PGT->PGT1 ->PGT2.
The example of program change of the above <conditions> is shown in the following.
Before sample program change After sample program change
81 Trk On,PBPOS,MBENC#,PTBASE・・・
82 Mov PGT,PUP1.Y Type 0,0
83 Accel PAC2.X,PAC2.Y
84 Mvs PGT
85 HClose 1
81 Trk On,PBPOS,MBENC#,PTBASE・・・
82 Mov PGT,PUP1.Y Type 0,0
83 POF1=(+50,+50,0,0,0,0,0,0)(0,0) '
84 POF2=(0,+100,0,0,0,0,0,0)(0,0) '
85 PGT1=PGT*POF1 'Pass position
86 PGT2=PGT*POF2 'End position
87 Accel PAC2.X,PAC2.Y
88 Mvs PGT
89 Mvr PGT,PGT1,PGT2 ' Circle movement
90 HClose 1
20-106 In such a case (improvement example)
20 Troubleshooting
20.3.7. Draw the square while doing the tracking.
Here, explain the example which draws the outline of the following square workpiece on the basis of the adsorption position.
Position of TrBase(P0)
Position to follow(PA)
Position to follow(PC)
Position to follow(PB)
The robot traces the outline of workpiece clockwise based on the position specified that the following programs are executed by the TrBase instruction.
1 TrBase P0
2 TrRd P1,M1,MKIND
3 Trk On,P1,M1
' Specify the workpiece coordinate origin at the teaching position.
' Read the workpiece position data from the data buffer.
' Start tracking of a workpiece whose position measured by a sensor is
P1 and encoder value at that time is M1.
4 Cnt 0
5 Mov P0, +20 ← Please specify -20 for RV robot though RH(SCARA) robot is +20.
6 Mvs P0
7 Mvs PA
8 Mvs PB
9 Mvs PC
10 Mvs PC, +20 ← Please specify -20 for RV robot though RH(SCARA) robot is +20.
11 Trk Off ' End the tracking operation.
In such a case (improvement example) 20-107
21 Appendix
21.
Appendix
This appendix provides a list of parameters related to tracking and describes Expansion serial interface connector pin assignment as well as sample programs for conveyer tracking and vision tracking.
21.1.
List of Parameters Related to Tracking
Parameter
Minimum external encoder value
Maximum external encoder value
Parameter name
Table
21
1
List of Parameters Related to Tracking
Number of elements
Description
Tracking buffer
TRBUF
ENCRGMN
ENCRGMX
2 integers Number of tracking buffers and their sizes (KB)
<Buffer number>
Specify the number of buffers where the tracking data is stored.
Mainly the tracking data for each conveyors is saved at the buffer. Change the set value, when the conveyor for tracking is increased.
However, if the value is enlarged, the memory area where the tracking data is saved will be secured. Be careful because the program number which can be saved decreases.
Setting range: 1 to 8
<Buffer size>
Specify the size in which the tracking data is preserved.
Change this element when there is larger tracking data saved by TrWrt command than reading by
TrRd command.
Be careful because the memory is secured like the above-mentioned [Buffer number].
Setting range: 1 to 200
8 integers The minimum external encoder data value (pulse)
The range of the encoder value which can be acquired in state variable “M_Enc"
(minimum value side)
8 integers The maximum external encoder data value (pulse)
The range of the encoder value which can be acquired in state variable “M_Enc"
(maximum value side)
Tracking buffer
Tracking adjustment coefficient 1
TRBUF
TRADJ1
2 integers Number of tracking buffers and their sizes (KB)
<Buffer number>
Specify the number of buffers where the tracking data is stored.
Setting range: 1 to 8
8 real numbers
(X,Y,Z,
A,B,C,
L1,L2)
<Buffer size>
Specify the size in which the tracking data is preserved.
Setting range: 1 to 64
Tracking adjustment coefficient 1
Set the amount of delay converted to the conveyer speed. Convert to 100 mm/s.
Example)
If the delay is 2 mm when the conveyer speed is
50 mm/s:
Setting value at factory shipment
2 , 64
0,0,0,0,0,0,0,0
100000000,
100000000,
100000000,
100000000,
100000000,
100000000,
100000000,
100000000
4 , 64
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00
21-108 List of Parameters Related to Tracking
Parameter
Tracking acceleration
Tracking deceleration
21 Appendix
Parameter name
TRPACL
TRPDCL
Number of elements
Tracking acceleration.
Acceleration during execution of tracking movement.
Description
Setting value = 4.0 (2 / 50 * 100)
If the advance is 1 mm when the conveyer speed is 50 mm/s:
Setting value = -2.0 (-1 / 50 * 100)
8 real numbers
(X,Y,Z,
A,B,C,
L1,L2)
8 real numbers
(X,Y,Z,
A,B,C,
L1,L2)
Tracking deceleration.
Deceleration during execution of tracking movement.
Setting value at factory shipment
1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0
1.0, 1.0, 1.0,
1.0, 1.0, 1.0,
1.0, 1.0
List of Parameters Related to Tracking 21-109
21 Appendix
21.2. Shine of changing parameter
When the tracking function is used, the parameter need to be changed depens on operation phase. List of the parameter is shown as follow.
List 21-2 List of the user shine of changing parameter
No. Operation phase
CR750-Q
CR751-Q
CRnQ-700
1
Power on
Setting orgin
JOG operation
Attach option
Connection with peripherals
-
2 ●
Model
CR750-D
CR751-D
CRnD-700
-
3
4
In case of robot programming
●
●
Parameter name
-
Example
-
Explanation
-
ENCUNIT1
ENCUNIT2
ENCUNIT3
0, 5
-1, 0
-1, 0
It is set to have installed
Q173DPX unit into 5 I/O slot of the base unit.
By setting it, incremental three encoders connected with
Q173DPX unit are recognized physical encoder number 1 to 3.
It makes tracking function valid.
● TRMODE 1 encoder value can be got.
1, 2,
2, 3,
1, 2
About EXTENC, because initial value is 1,2,1,2,1,2,1,2, physical encoder number 1 and
2 are allocated to logic encoder(physical encoder number3) number 1 to 8. At this time, the encoder connected with CH3 of Q173DPX unit is not allocated to logic encoder number. So by changing this parameter to 1,2,3,1,2,3,1,2, the encoder of CH3 is allocated to logic encoder number 3 and 6.
Also it is possible in following case. 3 pcs encoder are connected with Q173DPX unit and attach each encoder to conveyer 1 to 3. If conveyer1 connect to encoder3, conveyer
3 connect to encoder 1, it is not effective to change encoder, so by changing this parameter to
3,2,1,3,2,1,1,2, encoder attached with conveyer 1 becomes logic encoder1.
21-110 Shine of changing parameter
21 Appendix
No. Operation phase
CR750-Q
CR751-Q
CRnQ-700
In case of system debag
Model
CR750-D
CR751-D
CRnD-700
Parameter name
5
6
7
In case of system debug
●
●
●
Example Explanation
+0.00,
+4.00,
+0.00,
+0.00,
● TRADJ1
+0.00,
+0.00,
+0.00,
+0.00
In case of vision tracking, if there is a workpiece not recognized well by vision sensor, it might reply over one recognition results to one workpiece. In this case, it makes possible to get only one recognition result excluding the is shorter than the distance set by this parameter. For example, it is recognized that 3 vision sensors exist for 1 workpieces.
This one workpiece is got and another 2 workpieces are not got because the distance of result is shorter than it set
20mm.
It is possible to adjust the gap by using this parameter when this gap is caused every time in the same direction when the tracking operates.
For example, the speed of conveyer is 50mm/s and there is
+2mm gap (+Y direction)
+2mm,
Set value = 4.0 (2 / 50 * 100 )
+4.0 is set to the second element that shows Y coordinates.
When three kinds of workpieces flow respectively on the three conveyers for one robot controller, three tracking buffers where workpiece information is preserved are needed. In this case, the first element of this parameter is changed to three.
Moreover, when TrWrt command is frequently executed and TrRd command is slow, workpiece information collects in the tracking buffer. Because the error occurs when 64 workpieces information or more on an initial value collects, it is necessary to increase the number in which work information is preserved. Then, the second element of this parameter is changed to 100.
Shine of changing parameter 21-111
21 Appendix
No. Operation phase
CR750-Q
CR751-Q
CRnQ-700
8
Others
●
Model
CR750-D
CR751-D
CRnD-700
Parameter name
● ENCRGMN
9 ● ● ENCRGMX
Example Explanation
0,0,0,0,
0,0,0,0
100000000,
100000000,
100000000,
100000000,
100000000,
100000000,
100000000,
100000000
This parameter is a parameter that sets the range of the value of state variable M_Enc.
M_Enc becomes the range of
0-100000000, and next to
100000000, it becomes 0 encoder rotates in case of an initial value.
Though this range is changed by this parameter, tracking sample program is made on the assumption that it is used within this range, so do not change this parameter.
21-112 Shine of changing parameter
21 Appendix
21.3.
Expansion serial interface Connector Pin Assignment
(CR750-D/CR751-D, CRnD-700 series controller)
1 Connector Arrangement” shows the connector arrangement and “Table 213 Connectors:
CNENC/CNUSR Pin Assignment” shows pin assignment of each connector.
CNUSR2(CR750-D/CR751-D)
Encoder
25 1
CNENC(CRnD-700)
Encoder x 2CH
10B
10A
50
Connector: CNUSR2
CNUSR11/12/13(CR750-D)
Encoder
26
1B
1A
Connector: CNENC
1 16
Connector: CNUSR11/12/13
Figure
21
1
Connector Arrangement
Expansion serial interface Connector Pin Assignment 21-113
21 Appendix
CRnD-700 controller
(CNENC)
1A
Table
21
3
Connectors: CNENC/CNUSR Pin Assignment
Pin NO.
Connector name – Pin name
CR751-D controller
Signal name
Explanation
CR750-D controller
CNUSR1-28 CNUSR11-6 SG Control power supply 0 V
2A
3A
4A
5A
6A
7A
8A
9A
10A
1B
CNUSR1-21 CNUSR13-3
LAH1 + terminal of differential encoder
CNUSR1-22 CNUSR13-5 LBH1
+ terminal of differential encoder
B-phase signal
CNUSR1-23 CNUSR13-8 LZH1
+ terminal of differential encoder
Z-phase signal
CNUSR1-33 CNUSR12-6 SG
Control power supply 0 V
CNUSR2-21 CNUSR2-21 LAH2 + terminal of differential encoder
CNUSR2-22 CNUSR2-22 LBH2
+ terminal of differential encoder
B-phase signal
CNUSR2-23 CNUSR2-23 LAH2
+ terminal of differential encoder
Z-phase signal
- - Empty
- -
Empty
CNUSR2-15 CNUSR2-15
SG Control power supply 0 V
2B
3B
4B
5B
6B
7B
8B
9B
10B
CNUSR1-46 CNUSR13-4 LAL1 - terminal of differential encoder
CNUSR1-47 CNUSR13-6 LBL1
- terminal of differential encoder
B-phase signal
CNUSR1-48 CNUSR13-10
LZL1
- terminal of differential encoder
Z-phase signal
CNUSR2-40 CNUSR2-40 SG Control power supply 0 V
CNUSR2-46 CNUSR2-46 LAL2 - terminal of differential encoder
CNUSR2-47 CNUSR2-47
LBL2
- terminal of differential encoder
B-phase signal
CNUSR2-48 CNUSR2-48 LZL2
- terminal of differential encoder
Z-phase signal
- -
Empty
- - Empty
Input/output Remark
GND
Input
Input
Input
GND
Input
Input
Input
GND
Input
Input
Input
GND
Input
Input
Input
CH1
CH2
CH1
CH2
21-114 Expansion serial interface Connector Pin Assignment
21.4. Chart of sample program
The chart of the sample program is shown below.
21.4.1. Conveyer tracking
(1) A.prg
A.prg
Start
Check the encoder number inside of range
Acquire encoder data
(first time) out of range
Error output
(9101)
Acquire the current position (first time)
Acquire encoder data
(second time)
Acquire the current position (second time)
P_ENCDLT calculation processing
Store caluculation data in P_ENCDLT
A.prg
End
21 Appendix
Chart of sample program 21-115
21 Appendix
(2) C.prg
C.prg
Start
Check the model number inside of range
Check the encorder number inside of range
Ten time loop out of range out of range
Error output
(9102)
Error output
(9103)
Clear the global variable data
Acquire encoder data
(first time)
Acquire the workpiece suction position
Acquire encoder data
(second time)
Store the acquiring data in a global variable
C.prg
End
21-116 Chart of sample program
(3) CM1.prg
CM1.prg
Start
Processing for acquiring required data
Workpiece position writing processing
CM1.prg
End
<Data acquisition>
Start
The data acquired with program
A.prg and C.prg is acquired.
Calculate the workpiece position (X,Y) when the sensor is activated
<Data acquisition>
End
21 Appendix
<Position data writing>
Start
Check the photoelectronic sensor
ON
Acquire the encoder number
OFF
Write data to the tracking buffer
Check the photoelectronic sensor
OFF
<Position data writing>
End
ON
Chart of sample program 21-117
21 Appendix
(4) 1.prg
1.prg
Start
Origin return
Initialization
Tracked workpiece takeout
Workpiece placing
1.prg
End
<Origin return>
Start
Servo ON
Acquire the current position
Current height <
Origin heighe
Yes
Set the ovrd to 10%
Move to the escape position
Set the ovrd to 100%
No
Move to the
Origin position
<Origin return>
End
<Initialization>
Start
Set the acceleration and deceleration
to 100%
Set the ovrd to 100%
Turning optimal acceleration/ deceleration ON
Turning continuous movrment control OFF
Clear the Generalpurpose output
Open the hand
Clear the data in the tracking buffer
Acquire the model number set by program C
Does task 2 start?
No
Start program CM1
by slot 2.
Yes
Set the priority of each slot.
<Initialization>
End
21-118 Chart of sample program
21 Appendix
<Workpiece placing>
Start
Move to over the placement position
Set the ACC and DCC
Move to the placement position
Turn suction OFF
Set the ACC and DCC
Move to over the placement position
Set the ACC and DCC to 100%
<Workpiece placing>
End
<Transportation data setting>
Start
Tracking base setting
Suction position setting
Interrupt definition
<Transportation data setting>
End
<Tracked workpiece takeout>
Start
If a workpiece exists
No
Move to the escape position
Yes
Read data from the tracking buffer
Transportation data setting
1
Wait flag?
0
Move to workpiece wait posture PWAIT
Wait flag=1
Acquire the current workpiece position
Workpiece position confirmation
Wait(1)
Position of workpiece?
Already passed(3)
Inside the area(2)
Set the ACC and DCC
Turn on the interrupt watch.
Tracking operation start
Move to over the tracking position
Set the ACC and DCC
Move to a suction position
Turn suction ON adsorbtion confirmation
Turning continuous movrment control ON
Set the ACC and DCC
Move to over the suction position
Tracking operation end
Turn off the interrupt watch.
Set the ACC and DCC to 100%
Wait flag=0
<Tracked workpiece takeout>
End
Chart of sample program 21-119
21 Appendix
Front1
Set turning on interrupt when the workpiece pass more than the
Setting distance.
<Transportation data setting>
Start
Front 2
Conveyer position pattern?
right and left 1
Set turning on interrupt when the workpiece pass more than the
Setting distance.
Set turning on interrupt when the workpiece pass more than the
Setting distance.
right and left 2
Set turning on interrupt when the workpiece pass more than the
Setting distance.
<Transportation data setting>
End
Front1
<Workpiece position confirmation>
Start
Conveyer position pattern?
Front 2 right and left 1 right and left 2
1 1 1 1
<Workpiece position confirmation>
End
1
Is the position of workpiece
good at tracking?
Yes
Inside the area(2)
No
Is the workpiece this side of range?
No
Did workpiece
pass in range?
No
Is the position of workpiece good at tracking?
No
Error output
(9199)
Yes
Yes
Yes
Already passed(3)
Wait(1)
<For RH-3S*HR> when passing over
the singular point neighborhood. (3)
1
21-120 Chart of sample program
21.4.2. Vision Tracking
(1) A.prg
The same program as the conveyer tracking.
(2) B.prg
B.prg
Start
Check the encorder number inside of range
Acquire encoder data
(first time) out of range Error output
(9101)
Acquire encoder data
(second time)
Calculate the difference of the encoder value.
B.prg
End
21 Appendix
Chart of sample program 21-121
21 Appendix
(3) C.prg
21-122 Chart of sample program
C.prg
Start
Set information corresponding to the made vision program.
Acquire the model number and the encoder number set by program C.
Close communication line
Open communication line and log on
Execute the vision program and acquire data of one recognized workpiece
Acquire the current encoder data(first time)
Close communication line
Acquire the current encoder data(second time)
Acquire the current position
Calculate the amount of encoder movement
C.prg
End
21 Appendix
(4) CM1.prg
CM1.prg
Start
Data acquisition
Vision sensor initialization
Condition setting
Set the timing in which the image is acquired
Opening communication
Vision sensor recognition check
CM1.prg
End
<Data acquisition>
Start
Acquire the data acquired
in program A, B, and C
<Data acquisition>
End
<Condition setting>
Start
Calculation of imaging start setting value
<Condition setting>
End
<Opening communication>
Start
Close communication line
Open communication line and log on
Load the vision program
<Opening communication>
End
<Vision sensor initialization>
Start
Calculate the robot origin when the vision sensor recognizes workpieces
Calculate the amount of conveyer movement from vision sensor recognition to workpiece teaching
Calculate theworkpiece position recognized by the vision sensor into the robot area
Calculate the vectors specifying the center of gravity of the vision sensor and grabbing position
Is the calculated workpiece a range of the forecast?
Yes
<Vision sensor initialization>
End
No
Error output
(9101)
Chart of sample program 21-123
21 Appendix
<Vision sensor recognition check>
Start
0 pieces
Calculate the difference between last time and the current encoder value.
Is the timing in which the image is acquired now?
No
Imaging request + encoder value acquisition
Is the vision sensor
logged on?
Yes
Acquire information of the workpiece that the vision sensor recognized.
How many are the number of recognized workpieces?
Excluding 0 pieces
Preserve each element of the recognition data in the array variable.
Tracking data storage processing
<Vision sensor recognition check>
End front 1
Write the data
in the buffer.
Yes front 2
No
Write the data
in the buffer.
(5) 1.prg
Error output
(9100)
<Tracking data storage processing>
Start
Calculate coordinates of workpiece in the robot coordinate system.
left 1
Write the data
in the buffer.
Write the data
in the buffer.
<Tracking data storage processing>
End
The same program as the conveyer tracking.
Conveyer position pattern?
left 2
21-124 Chart of sample program
right 1 right 2
Write the data
in the buffer.
Write the data
in the buffer.
21 Appendix
21.5.
Sample Programs
21.5.1. Conveyer Tracking
(1) A1.Prg
1 '## Ver.A3 ######################################
2 '# Program for calibration between tracking robot and conveyer
3 '# Program type : A1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '################################################
7 '(1) Register an encoder number to the X coordinate of the "PE" variable/
8 'Check the setting value
9 MECMAX=8 'The maximum encoder number value (for checking)
10 If PE.X<1 Or PE.X>MECMAX Then Error 9101 'Encoder number out of range
11 MENCNO=PE.X 'Acquire the encoder number
12 '(2) Attach a marking sticker on the conveyer upstream side/
13 '(3) Move the robot to the position right at the center of the attached sticker/
14 MX10EC1#=M_Enc(MENCNO) 'Acquire encoder data (first time)
15 PX10PS1=P_Zero 'Set all elements to ZERO
16 PX10PS1=P_Fbc(1) 'Acquire the current position (first time)
17 '(4) Raise the robot/
18 '(5) Move the sticker in the forward direction of the conveyer/
19 '(6) Move the robot to the position right at the center of the moved sticker/
20 MX10EC2#=M_Enc(MENCNO) 'Acquire encoder data (second time)
21 PX10PS2=P_Zero 'Set all elements to ZERO
22 PX10PS2=P_Fbc(1) 'Acquire the current position (second time)
23 '(7) Raise the robot/
24 '(8) Perform step operation until END/
25 GoSub *S10ENC 'P_ENCDLT calculation processing
26 P_EncDlt(MENCNO)=PY10ENC 'Store data in P_ENCDLT
27 End
28 '
29 '##### Processing for obtaining P_ENCDLT #####
30 'MX10EC1: Encoder data 1
31 'MX10EC2: Encoder data 2
32 'PX10PS1: Position 1
33 'PX10PS2: Position 2
34 'PY10ENC: P_ENCDLT value
35 *S10ENC
36 M10ED#=MX10EC2#-MX10EC1#
37 If M10ED#>800000000.0# Then M10ED#=M10ED#-1000000000.0#
38 If M10ED#<-800000000.0# Then M10ED#=M10ED#+1000000000.0#
39 PY10ENC.X=(PX10PS2.X-PX10PS1.X)/M10ED#
40 PY10ENC.Y=(PX10PS2.Y-PX10PS1.Y)/M10ED#
41 PY10ENC.Z=(PX10PS2.Z-PX10PS1.Z)/M10ED#
42 PY10ENC.A=(PX10PS2.A-PX10PS1.A)/M10ED#
43 PY10ENC.B=(PX10PS2.B-PX10PS1.B)/M10ED#
44 PY10ENC.C=(PX10PS2.C-PX10PS1.C)/M10ED#
45 PY10ENC.L1=(PX10PS2.L1-PX10PS1.L1)/M10ED#
46 PY10ENC.L2=(PX10PS2.L2-PX10PS1.L2)/M10ED#
47 Return
48 '
49 'This program “computes how much a robot moves per 1 pulse and stores the result in P_ENCDLT."
PE=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PX10PS1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PX10PS2=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PY10ENC=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
Sample Programs 21-125
21 Appendix
(2) C1.Prg
1 '## Ver.A3 ##########################################
2 '# Conveyer tracking, workpiece suction position registration program
3 '# Program type : C1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '####################################################
7 '(1) Register a model number in the X coordinate of the "PRM1" variable/
8 '(2) Register an encoder number in the Y coordinate of the "PRM1" variable/
9 '(3) Register the number of the sensor that monitors workpieces in the Z coordinate of the "PRM1" variable /
10 'Check the conditions set in the "PRM1" variable
11 MWKMAX=10 'The maximum model number value (for checking)
12 MECMAX=8 'The maximum encoder number value (for checking)
13 MWKNO=PRM1.X 'Acquire a model number
14 MENCNO=PRM1.Y 'Acquire an encoder number
15 If MWKNO<1 Or MWKNO>MWKMAX Then Error 9102 'Model number out of range
16 If MENCNO<1 Or MENCNO>MECMAX Then Error 9101 'Encoder number out of range
17 For M1=1 To 10 'Clear the information
18 P_100(M1)=P_Zero 'A variable that stores workpiece positions
19 P_102(M1)=P_Zero 'A variable that stores operation conditions
20 M_101#(M1)=0 'A variable that stores encoder value differences
21 Next M1
22 '(4) Move a workpiece to the position where the photoelectronic sensor is activated/
23 ME1#=M_Enc(MENCNO) 'Acquire encoder data (first time)
24 '(5) Move a workpiece on the conveyer into the robot operation area/
25 '(6) Move the robot to the suction position/
26 ME2#=M_Enc(MENCNO) 'Acquire encoder data (second time)
27 P_100(MWKNO)=P_Fbc(1) 'Acquire the workpiece suction position
(current position)
28 '(7) Perform step operation until END/
29 MED#=ME2#-ME1# 'Calculate the difference of the encoder value.
30 If MED# > 800000000.0# Then MED# = MED#-1000000000.0#
31 If MED# < -800000000.0# Then MED# = MED#+1000000000.0#
32 '
33 M_101#(MWKNO)=MED# 'Store the amount of encoder movement in a global variable
34 P_102(MWKNO).X=PRM1.Y 'Store encoder numbers in a global variable
35 P_102(MWKNO).Y=PRM1.Z 'Store the sensor number in a global variable
36 End
37 '
38 'This program is "the relation between the position at which the sensor is reacted and the position at which
39 'the robot absorbs workpieces.
PRM1=(+1.00,+1.00,+810.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
21-126 Sample Programs
21 Appendix
(3) 1.Prg
1 '### Ver.A3 #################################
2 '# Conveyer tracking, robot operation program
3 '# Program type : 1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# MITSUBISHI ELECTRIC CORPORATION.
6 '############################################
7 '
8 '### Main processing ###
9 *S00MAIN
10 GoSub *S90HOME 'Origin return processing
11 GoSub *S10INIT 'Initialization processing
12 *LOOP
13 GoSub *S20TRGET 'Tracked workpiece takeout processing
14 GoSub *S30WKPUT 'Workpiece placing processing
15 GoTo *LOOP
16 End
17 '
18 '### Initialization processing ###
19 *S10INIT
20 '/// Speed related ///
21 Accel 100,100 'Acceleration/deceleration setting
22 Ovrd 100 'Speed setting
23 Loadset 1,1 'Optimal acceleration/deceleration specification
24 OAdl On 'Turning optimal acceleration/deceleration ON
25 Cnt 0
26 Clr 1
27 HOpen 1
28 '/// Initial value setting ///
29 TrClr 1 'Clear tracking buffer 1
30 MWAIT1=0 'Clear workpiece wait flag 1
31 '/// Multitask startup ///
32 M_09#=PWK.X 'Model number specification
33 If M_Run(2)=0 Then 'Confirmation of conveyer 1 multitasking
34 XRun 2,"CM1",1 'Multitasking setting
35 Wait M_Run(2)=1
36 EndIf
37 Priority PRI.X,1
38 Priority PRI.Y,2
39 Return
40 '
41 '### Tracked workpiece takeout processing ###
42 *S20TRGET
43 '/// Tracking buffer check ///
44 *LBFCHK
45 If M_Trbfct(1)>=1 Then GoTo *LREAD 'If a workpiece exists
46 Mov P1 'Move to the pull-off location
47 MWAIT1=0
48 GoTo *LBFCHK
49 '/// Workpiece data acquisition ///
50 *LREAD
51 TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO% 'Read data from the tracking buffer
52 GoSub *S40DTSET 'Transportation data setting
53 '/// Workpiece position confirmation ///
54 *LNEXT
55 PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#) 'Acquire the current workpiece position
56 MX50ST=PRNG.X 'Start distance of the range where the robot can follow a workpiece
Sample Programs 21-127
21 Appendix
57 MX50ED=PRNG.Y 'End distance of the range where the robot can follow a workpiece
58 MX50PAT=PTN.X 'Conveyer position pattern number
59 GoSub *S50WKPOS 'Workpiece position confirmation processing
60 If MY50STS=3 Then GoTo *LBFCHK 'Already passed. Go to the next workpiece
61 If MY50STS=2 Then GoTo *LTRST 'Operable: start tracking
62 If MWAIT=1 Then GoTo *LNEXT 'Wait for incoming workpieces
63 '/// To standby position ///
64 PWAIT=P1 'Change to workpiece wait posture
65 Select PTN.X 'Conveyer position pattern number
66 Case 1 To 2 'When the conveyer is the front of the robot
67 PWAIT.X=PX50CUR.X 'X coordinates of the robot are matched to workpiece.
68 Case 3 To 6
69 PWAIT.Y=PX50CUR.Y 'Y coordinates of the robot are matched to workpiece.
70 End Select
71 PWAIT.Z=PX50CUR.Z+PUP1.X
72 PWAIT.C=PX50CUR.C
73 Mov PWAIT 'Move to workpiece wait posture PWAIT
74 MWAIT1=1 'Set workpiece wait flag
75 GoTo *LNEXT
76 '/// Start tracking operation ///
77 *LTRST
78 Accel PAC1.X,PAC1.Y
79 Cnt 1,0,0
80 Act 1=1 'Monitor the robot following workpieces too far
81 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO% 'Tracking operation start setting
82 Mov PGT,PUP1.Y Type 0,0 'Move to tracking midair position
83 Accel PAC2.X,PAC2.Y
84 Mov PGT Type 0,0 'Move to a suction position
85 GoSub *S85CLOSE 'Turn suction ON
86 MX80ENA=PHND.X 'Check instruction
87 MX80SIG=PHND.Y 'Check signal number
88 MX80SEC=PDLY1.X 'Check second number(s)
89 GoSub *S80CWON 'adsorbtion confirmation
90 Cnt 1
91 Accel PAC3.X,PAC3.Y
92 Mov PGT,PUP1.Z Type 0,0 'Move to tracking midair position
93 Trk Off 'Tracking operation end setting
94 Act 1=0
95 Accel 100,100
96 MWAIT = 0
97 Return
98 '
99 '### Workpiece placing processing ###
100 *S30WKPUT
101 Accel PAC11.X,PAC11.Y
102 Mov PPT,PUP2.Y 'Move to over the placement position
103 Accel PAC12.X,PAC12.Y
104 Cnt 1,0,0
105 Mov PPT Type 0,0 'Move to the placement position
106 GoSub *S86OPEN 'Turn suction OFF
107 MX81ENA=PHND.X 'Check instruction
108 MX81SIG=PHND.Z 'Check signal number
109 MX81SEC=PDLY2.X 'Check second number(s)
110 GoSub *S81CWOFF 'Release confirmation
111 Cnt 1
112 Accel PAC13.X,PAC13.Y
113 Mov PPT,PUP2.Z Type 0,0 'Move to over the placement position
21-128 Sample Programs
21 Appendix
114 Accel 100,100
115 Return
116 '
117 '### Transportation data setting processing ###
118 *S40DTSET
119 PTBASE=P_100(PWK.X) 'Create reference position
120 TrBase PTBASE,MBENCNO% 'Tracking base setting
121 PGT=PTBASE*POFSET 'Suction position setting
122 GoSub *S46ACSET 'Interrupt definition
123 Return
124 '
125 '### Interrupt definition processing 1 ###
126 *S46ACSET
127 Select PTN.X 'Conveyer position pattern number
128 Case 1 'Front right -> left
129 MSTP1=PRNG.Z 'Following stop distance
130 Def Act 1,P_Fbc(1).Y>MSTP1 GoTo *S91STOP 'To *S91STOP if followed far long
131 Break
132 Case 2 'Front left -> right
133 MSTP1=-PRNG.Z
134 Def Act 1,P_Fbc(1).Y<MSTP1 GoTo *S91STOP
135 Break
136 Case 3 'Left side rear -> front
137 Case 5 'Right side rear -> front
138 MSTP1=PRNG.Z
139 Def Act 1,P_Fbc(1).X>MSTP1 GoTo *S91STOP
140 Break
141 Case 4 'Left side front -> rear
142 Case 6 'Right side front -> rear
143 MSTP1=-PRNG.Z
144 Def Act 1,P_Fbc(1).X<MSTP1 GoTo *S91STOP
145 Break
146 End Select
147 Return
148 '
149 '### Workpiece position confirmation processing ###
150 'PX50CUR:Current workpiece position
151 'MX50ST:Tracking start range
152 'MX50ED:Tracking end range
153 'MX50PAT:Conveyer position pattern number
154 'MY50STS:Result (1: Wait/2: Start tracking/3: Next workpiece)
155 *S50WKPOS
156 MY50STS=0 'Clear return value
157 Select MX50PAT 'Conveyer pattern
158 Case 1 'Front right -> left
159 M50STT=-MX50ST 'The start side has a negative value
160 M50END=MX50ED
161 If PosCq(PX50CUR)=1 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
162 MY50STS=2 'Tracking possible
163 Else 'If tracking not possible
164 If PX50CUR.Y<0 Then MY50STS=1 'Wait
165 If PX50CUR.Y>M50END Then MY50STS=3 'Move onto the next workpiece
166 If PosCq(PX50CUR)=0 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
MY50STS=3 'Outside the movement range
167 EndIf
168 Break
169 Case 2 'Front left -> right
170 M50STT=MX50ST
171 M50END=-MX50ED 'The end side has a negative value
172 If PosCq(PX50CUR)=1 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
Sample Programs 21-129
21 Appendix
173 MY50STS=2 'Tracking possible
174 Else 'If tracking not possible
175 If PX50CUR.Y>0 Then MY50STS=1 'Wait
176 If PX50CUR.Y<0 Then MY50STS=3 'Move onto the next workpiece
177 If PosCq(PX50CUR)=0 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
MY50STS=3 'Outside the movement range
178 EndIf
179 Break
180 Case 3 'Left side rear -> front
181 Case 5 'Right side rear -> front
182 M50STT=-MX50ST 'The start side has a negative value
183 M50END=MX50ED
184 If PosCq(PX50CUR)=1 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
185 MY50STS=2 'Tracking possible
186 Else 'If tracking not possible
187 If PX50CUR.X<0 Then MY50STS=1 'Wait
188 If PX50CUR.X>0 Then MY50STS=3 'Move onto the next workpiece
189 If PosCq(PX50CUR)=0 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
MY50STS=3 'Outside the movement range
190 EndIf
191 Break
192 Case 4 'Left side front -> rear
193 Case 6 'Right side front -> rear
194 M50STT=MX50ST
195 M50END=-MX50ED 'The end side has a negative value
196 If PosCq(PX50CUR)=1 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
197 MY50STS=2 'Tracking possible
198 Else 'If tracking not possible
199 If PX50CUR.X>0 Then MY50STS=1 'Wait
200 If PX50CUR.X<0 Then MY50STS=3 'Move onto the next workpiece
201 If PosCq(PX50CUR)=0 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
MY50STS=3 'Outside the movement range
202 EndIf
203 Break
204 End Select
205 If MY50STS=0 Then Error 9199 'Program modification required
206 Return
207 '
208 '### Origin return processing ###
209 *S90HOME
210 Servo On 'Servo ON
211 P90CURR=P_Fbc(1) 'Acquire the current position
212 If P90CURR.Z<P1.Z Then 'If the current height is below the origin
213 Ovrd 10
214 P90ESC=P90CURR 'Create an escape position
215 P90ESC.Z=P1.Z
216 Mvs P90ESC 'Move to the escape position
217 Ovrd 100
218 EndIf
219 Mov P1 'Move to the origin
220 Return
221 '
222 '### Tracking interruption processing ###
223 *S91STOP
224 Act 1=0
225 Trk Off
226 GoSub *S86OPEN 'Release suction
227 P91P=P_Fbc(1) 'Acquire the current position
228 P91P.Z=P1.Z
229 Mvs P91P Type 0,0 'Raise
21-130 Sample Programs
21 Appendix
230 Mov P1 'Return to the origin once
231 GoTo *LBFCHK
232 '
233 '##### Suction of substrates #####
234 *S85CLOSE
235 HClose 1 'Turn suction ON
236 Return
237 '##### Suction/release of substrates #####
238 *S86OPEN
239 HOpen 1 'Turn suction OFF
240 Return
241 '
242 '##### Turning on the signal is waited for #####
243 'MX80ENA:ENABLE/DISABLE of check(1/0)
244 'MX80SIG:Check signal number
245 'MX80SEC:Check second number(S)
246 'MY80SKP:OK/TIMEOUT(1/0)
247 *S80CWON
248 If MX80ENA=1 Then 'If the signal check is ENABLE
249 M_Timer(1)=0
250 MY80SKP=0
251 MX80SEC=MX80SEC * 1000 'Second -> Millisecond
252 *L80LOP
253 If (M_Timer(1)>MX80SEC) Or (MY80SKP<>0) Then *L80END
254 If M_In(MX80SIG)=1 Then MY80SKP=1 'If the signal specified is turned on
255 GoTo *L80LOP
256 Else 'If the signal check is DISABLE
257 Dly MX80SEC 'Wait at the specified check time
258 MY80SKP=1 'OK
259 EndIf
260 *L80END
261 Return
262 '
263 '##### Turning off the signal is waited for #####
264 'MX81ENA:ENABLE/DISABLE of check(1/0)
265 'MX81SIG:Check signal number
266 'MX81SEC:Check second number(S)
267 'MY81SKP:OK/TIMEOUT(1/0)
268 *S81CWOFF
269 If MX81ENA=1 Then 'If the signal check is ENABLE
270 M_Timer(1)=0
271 MY81SKP=0
272 MX81SEC=MX81SEC * 1000 'Second -> Millisecond
273 *L81LOP
274 If (M_Timer(1)>MX81SEC) Or (MY81SKP<>0) Then *L81END
275 If M_In(MX81SIG)=0 Then MY81SKP=1 'If the signal specified is turned off
276 GoTo *L81LOP
277 Else 'If the signal check is DISABLE
278 Dly MX80SEC 'Wait at the specified check time
279 MY81SKP=1 'OK
280 EndIf
281 *L81END
282 Return
PWK=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PRI=(+1.00,+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PBPOS=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PX50CUR=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PRNG=(+300.00,+200.00,+400.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PTN=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
Sample Programs 21-131
21 Appendix
PWAIT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PUP1=(+50.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC1=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PTBASE=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PGT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC2=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PHND=(+0.00,+900.00,+900.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PDLY1=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC3=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC11=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PPT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PUP2=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC12=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PDLY2=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PAC13=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
POFSET=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P90CURR=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P90ESC=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P91P=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
21-132 Sample Programs
21 Appendix
(4) CM1.Prg
1 '## Ver.A3 ####################################
2 '# Conveyer tracking, sensor monitoring program
3 '# Program type : CM1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '##############################################
7 '
8 '##### Main processing #####
9 *S00MAIN
10 GoSub *S10DTGET 'Processing for acquiring required data
11 *LOOP
12 GoSub *S20WRITE 'Workpiece position writing processing
13 GoTo *LOOP
14 End
15 '##### Data acquisition processing #####
16 *S10DTGET
17 'Acquire the suction position, amount of encoder movement and encoder number set with program C
18 MWKNO=M_09# 'Acquire model number
19 M10ED#=M_101#(MWKNO) 'Amount of encoder movement
20 MENCNO=P_102(MWKNO).X 'Encoder number
21 MSNS=P_102(MWKNO).Y 'Sensor number
22 'Calculate the workpiece position (X,Y) when the sensor is activated
23 PWPOS=P_100(MWKNO)-P_EncDlt(MENCNO)*M10ED#
24 Return
25 '##### Position data writing processing #####
26 *S20WRITE
27 If M_In(MSNS)=0 Then GoTo *S20WRITE 'Wait for a workpiece to activate the photoelectronic sensor
CR750-Q/CR751-Q series, CRnQ-700 series controller
( Note)
The command is deferent between iQ
28 MENC#=M_EncL(MENCNO) 'Encoder number
CR750-D/CR751-D series, CRnD-700 series controller
Platform controller (CR750-Q/CR751-Q series, CRnQ-700 series) and stand alone type controller (CR750-D/CR751-D series,
CRnD-700 series).
In the CR750-Q/CR751-Q series, number use the latch encoder data (M_ENCL) after confirmation with an input signal.
29 TrWrt PWPOS,MENC#,MWKNO,1,MENCNO 'Write data (workpiece position and encoder value) to the tracking buffer
30 *L20WAIT
31 If M_In(MSNS)=1 Then GoTo *L20WAIT
32 Return
Sample Programs 21-133
21 Appendix
21.5.2. Vision Tracking
(1) A1.Prg
The same program as the conveyer tracking.
(2) B1.Prg
1 '### Ver.A3 ##########################################
2 '# Network vision tracking, calibration between robot and vision sensor
3 '# Program type : B1.prg
4 '# Date of creation : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '#####################################################
7 '(1) Register an encoder number to the X coordinate of the “PE” variable/
8 'Check the setting value
9 MECMAX=8 'The maximum encoder number value (for checking)
10 If PE.X<1 Or PE.X>MECMAX Then Error 9101 'Encoder number out of range
11 MENCNO=PE.X 'Acquire the encoder number
12 '(2) Place the calibration sheet within the vision sensor recognition area/
13 '(3) Check that the calibration sheet positions are correct by looking at vision images/
14 ME1#=M_Enc(MENCNO) 'Acquire encoder data (first time)
15 '(4) Specify the mark in three points or more by using "Mitsubishi Robot Tool" on "In-Sight Explorer"/
16 '(5) Move the calibration sheet until they are within the robot operation area/
17 '(6) Move the robot hand to the position right at the center of mark 1/
18 '(7) Acquire the robot present position by using "In-Sight Explorer"/
19 '(8) Acquire the position of the robot in three points or more repeating work/
20 '(9) Click the Export button. Then, the calibration data can be made/
21 '(10) Raise the robot arm/
22 ME2#=M_Enc(MENCNO) 'Acquire encoder data (second time)
23 MED#=ME1#-ME2# 'Calculate the difference of the encoder value.
24 If MED# > 800000000.0# Then MED# = MED#-1000000000.0#
25 If MED# < -800000000.0# Then MED# = MED#+1000000000.0#
26 M_100#(MENCNO)=MED#
27 End
PE=(+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
21-134 Sample Programs
21 Appendix
(3) C1.Prg
1 '### Ver.A3 #########################################
2 '# Network vision tracking, workpiece suction position registration program
3 '# Program type : C1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '####################################################
7 '(1) Store a model number in the X coordinate of the "PRM1" variable/
8 '(2) Store an encoder number in the Y coordinate of the "PRM1" variable/
9 '(3) Check live images and register the length in the movement direction to the X coordinate of the "PRM2" variable/
10 '(4) Store the workpiece length in the Y coordinate of the "PRM2" variable/
11 '(5) Enter the COM port number to be opened for communication after "CCOM$=" in the following line/
12 CCOM$="COM2:" 'Set the number of the port to be opened
13 '(6) Enter the vision program name after "CPRG$=" in the following line/
14 CPRG$="TRK.JOB" 'Set the vision program name
15 '(7) Place workpieces to be tracked in locations recognizable by the vision sensor/
16 '(8) Place the vision sensor in the "online" status/
17 '(9) When the program stops, open program C1 with T/B/
18 MWKNO=PRM1.X 'Acquire the model number
19 MENCNO=PRM1.Y 'Acquire the encoder number
20 'Establish a communication line with the vision sensor via the opened port
21 NVClose 'Close communication line
22 NVOpen CCOM$ As #1 'Open communication line and log on
23 Wait M_NvOpen(1)=1 'Wait to log on to the vision sensor
24 EBRead #1,"",MNUM,PVS1,PVS2,PVS3,PVS4 'Acquire data of one recognized workpiece
25 P_101(MWKNO)=PVS1 'Acquire data of the first recognized workpiece
26 ME1#=M_Enc(MENCNO) 'Acquire encoder data 1
27 NVClose #1
28 Hlt
29 '(10) Move a workpiece on the conveyer until it gets within the robot operation area/
30 '(11) Move the robot to the suction position/
31 ME2#=M_Enc(MENCNO) 'Acquire encoder data 2
32 P_100(MWKNO)=P_Fbc(1) 'Acquire position 1
33 '(12) Perform step operation until END/
34 MED#=ME2#-ME1# 'Calculate the amount of encoder movement
35 If MED# > 800000000.0# Then MED# = MED#-1000000000.0#
36 If MED# < -800000000.0# Then MED# = MED#+1000000000.0#
37 M_101#(MWKNO)=MED# 'Amount of encoder movement
38 P_102(MWKNO)=PRM1 'Encoder number
39 P_103(MWKNO)=PRM2 'Image size and workpiece size
40 C_100$(MWKNO)=CCOM$ 'COM port number
41 C_101$(MWKNO)=CPRG$ 'Vision program name
42 End
43 '
44 'This program is "the relation between the workpiece position recognized by the network vision sensor and
45 ' the position at which the robot suctions workpieces.
PRM1=(+1.00,+1.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS2=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS3=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS4=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PRM2=(+170.00,+30.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
Sample Programs 21-135
21 Appendix
(4) 1.Prg
The same program as the conveyer tracking.
(5) CM1.Prg
1 '### Ver.A3 ###################################
2 '# Conveyer tracking, communication processing between robot and vision sensor
3 '# Program type : VS communication program
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '##############################################
7 Dim MX(4),MY(4),MT(4),PVS(4) 'X/Y/C/buffer
8 '
9 '##### Main processing #####
10 *S00MAIN
11 GoSub *S10DTGET 'Data acquisition processing
12 GoSub *S20VSINI 'VS initialization processing
13 GoSub *S30CONST 'Condition setting
14 '
15 MEP# = M_Enc(MENCNO)+MEI#+100
16 GoSub *S70VOPEN 'Vision sensor line open + vision program load processing
17 *L00_00
18 GoSub *S40CHKS 'VS recognition check processing
19 GoTo *L00_00
20 End
21 '
22 '##### Data acquisition processing #####
23 *S10DTGET
24 MWKNO=M_09# 'Model number
25 MENCNO=P_102(MWKNO).Y 'Encoder number
26 MVSL=P_103(MWKNO).X 'VS screen size longitudinal distance
27 MWKL=P_103(MWKNO).Y 'Workpiece size longitudinal distance
28 '
29 PTEACH=P_100(MWKNO) 'Position taught to the robot
30 PVSWRK=P_101(MWKNO) 'Position recognized by VS
31 CCOM$=C_100$(MWKNO) 'COM port number
32 CPRG$=C_101$(MWKNO) 'Vision program name
33 Return
34 '
35 '##### Opening communication line #####
36 *S70VOPEN
37 NVClose 'Close communication line
38 NVOpen CCOM$ As #1 'Open communication line and log on
39 Wait M_NvOpen(1)=1 'Wait for line connection
40 NVLoad #1,CPRG$ 'Load the vision program
41 Return
42 '
43 '##### VS initialization processing #####
44 *S20VSINI
45 'Move from the robot coordinate axis (P_ZERO position) to the robot origin when the vision sensor recognizes workpieces
46 MED1#=M_100#(MENCNO) 'Amount of conveyer movement at calibration between vision sensor and robot
47 PRBORG=P_EncDlt(MENCNO)*MED1# 'Robot origin when the vision sensor recognizes workpieces
48 'Return a workpiece recognized by the vision sensor to the position taught to the robot
49 MED2#=M_101#(MWKNO) 'Amount of conveyer movement from vision sensor recognition to workpiece teaching
50 PBACK=P_EncDlt(MENCNO)*MED2#
51 'Calculate the position of the workpiece that the vision sensor in the robot area recognized.
52 PWKPOS=PRBORG+PVSWRK+PBACK 'Workpiece position recognized by the vision
21-136 Sample Programs
21 Appendix
sensor into the robot area
53 PVTR=(P_Zero/PWKPOS)*PTEACH 'Vectors specifying the center of gravity of the vision sensor and grabbing position
54 If PVTR.X<-PCHK.X Or PVTR.X>PCHK.X Then Error 9110 'The calculation result is greatly different from the theory value.
55 If PVTR.Y<-PCHK.Y Or PVTR.Y>PCHK.Y Then Error 9110
56 Return
57 '
58 '##### Condition setting #####
59 *S30CONST
60 MDX = P_EncDlt(MENCNO).X 'Amount of movement per pulse (X)
61 MDY = P_EncDlt(MENCNO).Y 'Amount of movement per pulse (Y)
62 MDZ = P_EncDlt(MENCNO).Z 'Amount of movement per pulse (Z)
63 MD = Sqr(MDX^2+MDY^2+MDZ^2) 'Calculation of the amount of movement per pulse
64 MEI#=Abs((MVSL-MWKL)/MD) 'Calculation of imaging start setting value
65 Return
66 '
67 '##### VS recognition check processing #####
68 *S40CHKS
69 *LVSCMD
70 *LWAIT
71 MEC# = M_Enc(MENCNO)
72 MEM#=MEC#-MEP# 'Subtract the previous encoder pulse value from the current position of the encoder
73 If MEM# > 800000000.0# Then MEM# = MEM#-1000000000.0#
74 If MEM# < -800000000.0# Then MEM# = MEM#+1000000000.0#
75 If Abs(MEM#) > MEI# GoTo *LVSTRG 'Comparison between the amount of encoder movement and the camera startup setting value
76 Dly 0.01
77 GoTo *LWAIT
78 *LVSTRG
79 MEP#=MEC# 'Set the encoder pulse current position to the previous value
80 NVTrg #1, 5, MTR1#,MTR2#,MTR3#,MTR4#,MTR5#,MTR6#,MTR7#,MTR8# 'Imaging request + encoder value acquisition
81 'Acquisition of recognition data
82 If M_NvOpen(1)<>1 Then Error 9100 'Communication error
83 EBRead #1,"",MNUM,PVS(1),PVS(2),PVS(3),PVS(4) 'Imaging request
84 If MNUM=0 Then GoTo *LVSCMD 'If no workpieces are recognized
85 If MNUM>4 Then MNUM=4 'Set the maximum number (4)
86 For M1=1 To MNUM 'Repeat for the number of workpieces recognized
87 MX(M1)=PVS(M1).X 'Data acquisition
88 MY(M1)=PVS(M1).Y
89 MT(M1)=PVS(M1).C
90 Next M1
91 GoSub *S60WRDAT 'Tracking data storage processing
92 Return
93 '
94 '##### Tracking data storage processing #####
95 *S60WRDAT
96 For M1=1 To MNUM 'Perform processing for the number of workpieces recognized
97 PSW=P_Zero
98 PSW=PRBORG 'Virtually move the robot close to the vision sensor
99 PSW.X=PSW.X+MX(M1) 'Create the grabbing position
100 PSW.Y=PSW.Y+MY(M1)
101 PSW.C=PSW.C+MT(M1)
102 PRW=P_Zero
103 PRW=PSW*PVTR 'Compensate for the error in the calculation value
104 PRW.FL1=P_100(MWKNO).FL1
105 PRW.FL2=P_100(MWKNO).FL2
106 Select MENCNO
107 Case 1
108 TrWrt PRW, MTR1#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
Sample Programs 21-137
21 Appendix
109 Break
110 Case 2
111 TrWrt PRW, MTR2#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
112 Break
113 Case 3
114 TrWrt PRW, MTR3#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
115 Break
116 Case 4
117 TrWrt PRW, MTR4#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
118 Break
119 Case 5
120 TrWrt PRW, MTR5#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
121 Break
122 Case 6
123 TrWrt PRW, MTR6#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
124 Break
125 Case 7
126 TrWrt PRW, MTR7#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
127 Break
128 Case 8
129 TrWrt PRW, MTR8#, MWKNO,1,MENCNO 'Position, encoder value, model number, buffer number, encoder number
130 Break
131 End Select
132 Next M1
133 Return
PVS(1)=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS(2)=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS(3)=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVS(4)=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PTEACH=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVSWRK=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PRBORG=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PBACK=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PWKPOS=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PVTR=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PCHK=(+100.00,+100.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PSW=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PRW=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
21-138 Sample Programs
21 Appendix
21.5.3. For RH-3S*HR
(1) 1.Prg
1 '### Ver.A3 #################################
2 '# Conveyer tracking, robot operation program(for RH-3SDHR)
3 '# Program type : 1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# MITSUBISHI ELECTRIC CORPORATION.
6 '############################################
7 '
8 '### Main processing ###
9 *S00MAIN
10 GoSub *S90HOME 'Origin return processing
11 GoSub *S10INIT 'Initialization processing
12 *LOOP
13 GoSub *S20TRGET 'Tracked workpiece takeout processing
14 GoSub *S30WKPUT 'Workpiece placing processing
15 GoTo *LOOP
16 End
17 '
18 '### Initialization processing ###
19 *S10INIT
20 '/// Speed related ///
21 Accel 100,100 'Acceleration/deceleration setting
22 Ovrd 100 'Speed setting
23 Loadset 1,1 'Optimal acceleration/deceleration specification
24 OAdl On 'Turning optimal acceleration/deceleration ON
25 Cnt 0
26 Clr 1
27 HOpen 1
28 '/// Initial value setting ///
29 TrClr 1 'Clear tracking buffer 1
30 MWAIT1=0 'Clear workpiece wait flag 1
31 '/// The processing to singular point of RH-3S*HR ///
32 MTUPPOS=P3HR.X 'Move time to midair position(measurement time that the slowest
J1 axis rotated from -225 to 225 degrees)
33 MTWKPOS=1000 * PUP1.Y / P3HR.Y 'Move time to suction position(calculation from speed and move amount of J3)
34 MTWKUP=1000 * PUP1.Z / P3HR.Y 'Move time to midair position(calculation from speed and move amount of J3)
35 MTRSTT=MTUPPOS 'Move time to midair position
36 MTREND=MTUPPOS + MTWKPOS + (PDLY1.X * 1000) + MTWKUP 'Necessary time for tracking before it passes over singular point
37 '/// The processing to singular point of RH-3S*HR ///
38 '/// Multitask startup ///
39 M_09#=PWK.X 'Model number specification
40 If M_Run(2)=0 Then 'Confirmation of conveyer 1 multitasking
41 XRun 2,"CM1",1 'Multitasking setting
42 Wait M_Run(2)=1
43 EndIf
44 Priority PRI.X,1
45 Priority PRI.Y,2
46 Return
47 '
48 '### Tracked workpiece takeout processing ###
49 *S20TRGET
50 '/// Tracking buffer check ///
51 *LBFCHK
52 If M_Trbfct(1)>=1 Then GoTo *LREAD 'If a workpiece exists
53 Mov P1 'Move to the pull-off location
54 MWAIT1=0
Sample Programs 21-139
21 Appendix
55 GoTo *LBFCHK
56 '/// Workpiece data acquisition ///
57 *LREAD
58 TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO% 'Read data from the tracking buffer
59 GoSub *S40DTSET 'Transportation data setting
60 '/// Workpiece position confirmation ///
61 *LNEXT
62 PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#) 'Acquire the current workpiece position
63 MX50ST=PRNG.X 'Start distance of the range where the robot can follow a workpiece
64 MX50ED=PRNG.Y 'End distance of the range where the robot can follow a workpiece
65 MX50PAT=PTN.X 'Conveyer position pattern number
66 GoSub *S50WKPOS 'Workpiece position confirmation processing
67 If MY50STS=3 Then GoTo *LBFCHK 'Already passed. Go to the next workpiece
68 If MY50STS=2 Then GoTo *LTRST 'Operable: start tracking
69 If MWAIT=1 Then GoTo *LNEXT 'Wait for incoming workpieces
70 '/// To standby position ///
71 PWAIT=P1 'Change to workpiece wait posture
72 Select PTN.X 'Conveyer position pattern number
73 Case 1 To 2 'When the conveyer is the front of the robot
74 PWAIT.X=PX50CUR.X 'X coordinates of the robot are matched to workpiece.
75 Case 3 To 6
76 PWAIT.Y=PX50CUR.Y 'Y coordinates of the robot are matched to workpiece.
77 End Select
78 PWAIT.Z=PX50CUR.Z+PUP1.X
79 PWAIT.C=PX50CUR.C
80 Mov PWAIT 'Move to workpiece wait posture PWAIT
81 MWAIT1=1 'Set workpiece wait flag
82 GoTo *LNEXT
83 '/// Start tracking operation ///
84 *LTRST
85 Accel PAC1.X,PAC1.Y
86 Cnt 1,0,0
87 Act 1=1 'Monitor the robot following workpieces too far
88 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO% 'Tracking operation start setting
89 Mov PGT,PUP1.Y Type 0,0 'Move to tracking midair position
90 Accel PAC2.X,PAC2.Y
91 Mov PGT Type 0,0 'Move to a suction position
92 GoSub *S85CLOSE 'Turn suction ON
93 MX80ENA=PHND.X 'Check instruction
94 MX80SIG=PHND.Y 'Check signal number
95 MX80SEC=PDLY1.X 'Check second number(s)
96 GoSub *S80CWON 'adsorbtion confirmation
97 Cnt 1
98 Accel PAC3.X,PAC3.Y
99 Mov PGT,PUP1.Z Type 0,0 'Move to tracking midair position
100 Trk Off 'Tracking operation end setting
101 Act 1=0
102 Accel 100,100
103 MWAIT = 0
104 Return
105 '
106 '### Workpiece placing processing ###
107 *S30WKPUT
108 Accel PAC11.X,PAC11.Y
109 Mov PPT,PUP2.Y 'Move to over the placement position
110 Accel PAC12.X,PAC12.Y
111 Cnt 1,0,0
112 Mov PPT Type 0,0 'Move to the placement position
113 GoSub *S86OPEN 'Turn suction OFF
114 MX81ENA=PHND.X 'Check instruction
115 MX81SIG=PHND.Z 'Check signal number
21-140 Sample Programs
21 Appendix
116 MX81SEC=PDLY2.X 'Check second number(s)
117 GoSub *S81CWOFF 'Release confirmation
118 Cnt 1
119 Accel PAC13.X,PAC13.Y
120 Mov PPT,PUP2.Z Type 0,0 'Move to over the placement position
121 Accel 100,100
122 Return
123 '
124 '### Transportation data setting processing ###
125 *S40DTSET
126 PTBASE=P_100(PWK.X) 'Create reference position
127 TrBase PTBASE,MBENCNO% 'Tracking base setting
128 PGT=PTBASE*POFSET 'Suction position setting
129 GoSub *S46ACSET 'Interrupt definition
130 Return
131 '
132 '### Interrupt definition processing 1 ###
133 *S46ACSET
134 Select PTN.X 'Conveyer position pattern number
135 Case 1 'Front right -> left
136 MSTP1=PRNG.Z 'Following stop distance
137 Def Act 1,P_Fbc(1).Y>MSTP1 GoTo *S91STOP 'To *S91STOP if followed far long
138 Break
139 Case 2 'Front left -> right
140 MSTP1=-PRNG.Z
141 Def Act 1,P_Fbc(1).Y<MSTP1 GoTo *S91STOP
142 Break
143 Case 3 'Left side rear -> front
144 Case 5 'Right side rear -> front
145 MSTP1=PRNG.Z
146 Def Act 1,P_Fbc(1).X>MSTP1 GoTo *S91STOP
147 Break
148 Case 4 'Left side front -> rear
149 Case 6 'Right side front -> rear
150 MSTP1=-PRNG.Z
151 Def Act 1,P_Fbc(1).X<MSTP1 GoTo *S91STOP
152 Break
153 End Select
154 Return
155 '
156 '### Workpiece position confirmation processing ###
157 'PX50CUR:Current workpiece position
158 'MX50ST:Tracking start range
159 'MX50ED:Tracking end range
160 'MX50PAT:Conveyer position pattern number
161 'MY50STS:Result (1: Wait/2: Start tracking/3: Next workpiece)
162 *S50WKPOS
163 MY50STS=0 'Clear return value
164 '/// The processing to singular point of RH-3S*HR ///
165 P50FWCUR=PX50CUR * Inv(P_Tool) 'Position of workpiece in flange
166 PTRST=P_Zero
167 PTRED=P_Zero
168 '/// The processing to singular point of RH-3S*HR ///
169 Select MX50PAT 'Conveyer pattern
170 Case 1 'Front right -> left
171 M50STT=-MX50ST 'The start side has a negative value
172 M50END=MX50ED
173 If PosCq(PX50CUR)=1 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
174 MY50STS=2 'Tracking possible
175 '/// The processing to singular point of RH-3S*HR ///
176 PTRST.Y = P_CvSpd(MBENCNO%).Y * MTRSTT / 1000
177 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for workpiece.
178 PTRED.Y = P_CvSpd(MBENCNO%).Y * MTREND / 1000
179 PTRED = PTRED + P50FWCUR 'Position when having finished following
Sample Programs 21-141
21 Appendix
as for workpiece.
180 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then 'case the singular point area
181 If (PTRST.Y < -P3HR.Z And PTRED.Y < -P3HR.Z) Then MY50STS=2 'The position of the work peace is OK from the singular point if previous.
182 If (PTRED.Y > -P3HR.Z And PTRED.Y < P3HR.Z) Then MY50STS=3 'If the tracking end position is singular point neighborhood, it is NG.
183 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then MY50STS=3 'If the tracking start position is singular point neighborhood, it is NG.
184 If (PTRST.Y > P3HR.Z And PTRED.Y > P3HR.Z) Then MY50STS=3 'It is NG if passing over the singular point.
185 EndIf
186 '/// The processing to singular point of RH-3S*HR ///
187 Else 'If tracking not possible
188 If PX50CUR.Y<0 Then MY50STS=1 'Wait
189 If PX50CUR.Y>M50END Then MY50STS=3 'Move onto the next workpiece
190 If PosCq(PX50CUR)=0 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
MY50STS=3 'Outside the movement range
191 EndIf
192 Break
193 Case 2 'Front left -> right
194 M50STT=MX50ST
195 M50END=-MX50ED 'The end side has a negative value
196 If PosCq(PX50CUR)=1 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
197 MY50STS=2 'Tracking possible
198 '/// The processing to singular point of RH-3S*HR ///
199 PTRST.Y = P_CvSpd(MBENCNO%).Y * MTRSTT / 1000
200 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for workpiece.
201 PTRED.Y = P_CvSpd(MBENCNO%).Y * MTREND / 1000
202 PTRED = PTRED + P50FWCUR 'Position when having finished following as for workpiece.
203 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then 'case the singular point area
204 If (PTRST.Y > P3HR.Z And PTRED.Y > P3HR.Z) Then MY50STS=2 'The position of the work peace is OK from the singular point if previous.
205 If (PTRED.Y > -P3HR.Z And PTRED.Y < P3HR.Z) Then MY50STS=3 'If the tracking end position is singular point neighborhood, it is NG.
206 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then MY50STS=3 'If the tracking start position is singular point neighborhood, it is NG.
207 If (PTRST.Y < -P3HR.Z And PTRED.Y < -P3HR.Z) Then MY50STS=3 'It is NG if passing over the singular point.
208 EndIf
209 '/// The processing to singular point of RH-3S*HR ///
210 Else 'If tracking not possible
211 If PX50CUR.Y>0 Then MY50STS=1 'Wait
212 If PX50CUR.Y<0 Then MY50STS=3 'Move onto the next workpiece
213 If PosCq(PX50CUR)=0 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
MY50STS=3 'Outside the movement range
214 EndIf
215 Break
216 Case 3 'Left side rear -> front
217 Case 5 'Right side rear -> front
218 M50STT=-MX50ST 'The start side has a negative value
219 M50END=MX50ED
220 If PosCq(PX50CUR)=1 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
221 MY50STS=2 'Tracking possible
222 '/// The processing to singular point of RH-3S*HR ///
223 PTRST.X = P_CvSpd(MBENCNO%).X * MTRSTT / 1000
224 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for workpiece.
225 PTRED.X = P_CvSpd(MBENCNO%).X * MTREND / 1000
226 PTRED = PTRED + P50FWCUR 'Position when having finished following as for workpiece.
227 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then 'case the singular point area
228 If (PTRST.X < -P3HR.Z And PTRED.X < -P3HR.Z) Then MY50STS=2 'The position of the work peace is OK from the singular point if previous.
21-142 Sample Programs
21 Appendix
229 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3 'If the tracking end position is singular point neighborhood, it is NG.
230 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3 'If the tracking start position is singular point neighborhood, it is NG.
231 If (PTRST.X > P3HR.Z And PTRED.X > P3HR.Z) Then MY50STS=3 'It is NG if passing over the singular point.
232 EndIf
233 '/// The processing to singular point of RH-3S*HR ///
234 Else 'If tracking not possible
235 If PX50CUR.X<0 Then MY50STS=1 'Wait
236 If PX50CUR.X>0 Then MY50STS=3 'Move onto the next workpiece
237 If PosCq(PX50CUR)=0 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
MY50STS=3 'Outside the movement range
238 EndIf
239 Break
240 Case 4 'Left side front -> rear
241 Case 6 'Right side front -> rear
242 M50STT=MX50ST
243 M50END=-MX50ED 'The end side has a negative value
244 If PosCq(PX50CUR)=1 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
245 MY50STS=2 'Tracking possible
246 '/// The processing to singular point of RH-3S*HR ///
247 PTRST.X = P_CvSpd(MBENCNO%).X * MTRSTT / 1000
248 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for workpiece.
249 PTRED.X = P_CvSpd(MBENCNO%).X * MTREND / 1000
250 PTRED = PTRED + P50FWCUR 'Position when having finished following as for workpiece.
251 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then 'case the singular point area
252 If (PTRST.X > P3HR.Z And PTRED.X > P3HR.Z) Then MY50STS=2 'The position of the work peace is OK from the singular point if previous.
253 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3 'If the tracking end position is singular point neighborhood, it is NG.
254 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3 'If the tracking start position is singular point neighborhood, it is NG.
255 If (PTRST.X < -P3HR.Z And PTRED.X < -P3HR.Z) Then MY50STS=3 'It is NG if passing over the singular point.
256 EndIf
257 '/// The processing to singular point of RH-3S*HR ///
258 Else 'If tracking not possible
259 If PX50CUR.X>0 Then MY50STS=1 'Wait
260 If PX50CUR.X<0 Then MY50STS=3 'Move onto the next workpiece
261 If PosCq(PX50CUR)=0 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
MY50STS=3 'Outside the movement range
262 EndIf
263 Break
264 End Select
265 P50TRST=PTRST '/// The processing to singular point of RH-3S*HR ///
266 P50TRED=PTRED '/// The processing to singular point of RH-3S*HR ///
267 If MY50STS=0 Then Error 9199 'Program modification required
268 Return
269 '
270 '### Origin return processing ###
271 *S90HOME
272 Servo On 'Servo ON
273 P90CURR=P_Fbc(1) 'Acquire the current position
274 If P90CURR.Z<P1.Z Then 'If the current height is below the origin
275 Ovrd 10
276 P90ESC=P90CURR 'Create an escape position
277 P90ESC.Z=P1.Z
278 Mvs P90ESC 'Move to the escape position
279 Ovrd 100
280 EndIf
281 Mov P1 'Move to the origin
282 Return
Sample Programs 21-143
21 Appendix
283 '
284 '### Tracking interruption processing ###
285 *S91STOP
286 Act 1=0
287 Trk Off
288 GoSub *S86OPEN 'Release suction
289 P91P=P_Fbc(1) 'Acquire the current position
290 P91P.Z=P1.Z
291 Mvs P91P Type 0,0 'Raise
292 Mov P1 'Return to the origin once
293 GoTo *LBFCHK
294 '
295 '##### Suction of substrates #####
296 *S85CLOSE
297 HClose 1 'Turn suction ON
298 Return
299 '##### Suction/release of substrates #####
300 *S86OPEN
301 HOpen 1 'Turn suction OFF
302 Return
303 '
304 '##### Turning on the signal is waited for #####
305 'MX80ENA:ENABLE/DISABLE of check(1/0)
306 'MX80SIG:Check signal number
307 'MX80SEC:Check second number(S)
308 'MY80SKP:OK/TIMEOUT(1/0)
309 *S80CWON
310 If MX80ENA=1 Then 'If the signal check is ENABLE
311 M_Timer(1)=0
312 MY80SKP=0
313 MX80SEC=MX80SEC * 1000 'Second -> Millisecond
314 *L80LOP
315 If (M_Timer(1)>MX80SEC) Or (MY80SKP<>0) Then *L80END
316 If M_In(MX80SIG)=1 Then MY80SKP=1 'If the signal specified is turned on
317 GoTo *L80LOP
318 Else 'If the signal check is DISABLE
319 Dly MX80SEC 'Wait at the specified check time
320 MY80SKP=1 'OK
321 EndIf
322 *L80END
323 Return
324 '
325 '##### Turning off the signal is waited for #####
326 'MX81ENA:ENABLE/DISABLE of check(1/0)
327 'MX81SIG:Check signal number
328 'MX81SEC:Check second number(S)
329 'MY81SKP:OK/TIMEOUT(1/0)
330 *S81CWOFF
331 If MX81ENA=1 Then 'If the signal check is ENABLE
332 M_Timer(1)=0
333 MY81SKP=0
334 MX81SEC=MX81SEC * 1000 'Second -> Millisecond
335 *L81LOP
336 If (M_Timer(1)>MX81SEC) Or (MY81SKP<>0) Then *L81END
337 If M_In(MX81SIG)=0 Then MY81SKP=1 'If the signal specified is turned off
338 GoTo *L81LOP
339 Else 'If the signal check is DISABLE
340 Dly MX80SEC 'Wait at the specified check time
341 MY81SKP=1 'OK
342 EndIf
343 *L81END
344 Return
P3HR=(+800.000,+1500.000,+60.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PUP1=(+50.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PDLY1=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
21-144 Sample Programs
PWK=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PRI=(+1.000,+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
P1=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PBPOS=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PX50CUR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PRNG=(+300.000,+200.000,+400.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PTN=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PWAIT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC1=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PTBASE=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PGT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC2=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PHND=(+0.000,+900.000,+900.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC3=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC11=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PPT=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PUP2=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC12=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PDLY2=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PAC13=(+100.000,+100.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
POFSET=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
P50FWCUR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PTRST=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PTRED=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
P50TRST=(0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000)(0,0)
P50TRED=(0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000)(0,0)
P90CURR=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
P90ESC=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
P91P=(+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
21 Appendix
Sample Programs 21-145
Jan.2013 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.
MITSUBISHI ELECTRIC
HEADQUARTERS
MITSUBISHI ELECTRIC EUROPE B.V.
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Fax: +49 (0)2102 / 486-1120
EUROPE
MITSUBISHI ELECTRIC EUROPE B.V.-org.sl.
Czech Branch
Avenir Business Park, Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
Fax: +420 (0)251-551-471
CZECHREP.
FRANCE MITSUBISHI ELECTRIC EUROPE B.V.
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
Fax: +33 (0)1 / 55 68 57 57
MITSUBISHI ELECTRIC EUROPE B.V.
Irish Branch
Westgate Business Park, Ballymount
IRL-Dublin 24
Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
IRELAND
MITSUBISHI ELECTRIC EUROPE B.V.
Italian Branch
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
Poland Branch
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
ITALY
POLAND
MITSUBISHI ELECTRIC EUROPE B.V.
52, bld. 3 Kosmodamianskaya nab 8 floor
RU-115054 Мoscow
Phone: +7 495 721-2070
Fax: +7 495 721-2071
MITSUBISHI ELECTRIC CORPORATION
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
RUSSIA
MITSUBISHI ELECTRIC EUROPE B.V.
Spanish Branch
Carretera de Rubí 76-80
SPAIN
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
UK
JAPAN
USA
EUROPEAN REPRESENTATIVES
GEVA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
Koning & Hartman b.v.
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
AUSTRIA
BELGIUM
INEA RBT d.o.o.
Aleja Lipa 56
BOSNIA AND HERZEGOVINA
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33 / 524 539
AKHNATON
4, Andrei Ljapchev Blvd., PO Box 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6000
Fax: +359 (0)2 / 97 44 06 1
BULGARIA
AutoCont C.S. s.r.o.
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
CZECH REPUBLIC
DENMARK Beijer Electronics A/S
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics OY
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207 / 463 540
Fax: +358 (0)207 / 463 541
FINLAND
UTECO
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
AXICONT AUTOMATIKA Kft.
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Fax: +36 1 / 412-0883
ALFATRADE Ltd.
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
HIFLEX AUTOM.TECHNIEK B.V.
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
GREECE
HUNGARY
MALTA
NETHERLANDS
EUROPEAN REPRESENTATIVES
Koning & Hartman b.v.
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
Fonseca S.A.
R. João Francisco do Casal 87/89
PT - 3801-997 Aveiro, Esgueira
Phone: +351 (0)234 / 303 900
Fax: +351 (0)234 / 303 910
SIRIUS TRADING & SERVICES SRL
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
INEA RBT d.o.o.
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 615 401
Fax: +381 (0)26 / 615 401
SIMAP s.r.o.
Jána Derku 1671
SK-911 01 Trencín
Phone: +421 (0)32 743 04 72
Fax: +421 (0)32 743 75 20
PROCONT, spol. s r.o. Prešov
Kúpelná 1/A
SK-080 01 Prešov
Phone: +421 (0)51 7580 611
Fax: +421 (0)51 7580 650
NETHERLANDS
NORWAY
PORTUGAL
ROMANIA
SERBIA
SLOVAKIA
SLOVAKIA
INEA RBT d.o.o.
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8116
Fax: +386 (0)1 / 513 8170
Beijer Electronics Automation AB
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 93 23 01
Robotronic AG
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (0)52 / 267 02 00
Fax: +41 (0)52 / 267 02 01
SLOVENIA
SWEDEN
SWITZERLAND
GTS
Bayraktar Bulvari Nutuk Sok. No:5
TURKEY
TR-34775 Yukarı Dudullu-Ümraniye-İSTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
UKRAINE CSC Automation Ltd.
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MIDDLE EAST REPRESENTATIVE
I.C. SYSTEMS LTD.
23 Al-Saad-Al-Alee St.
EG-Sarayat, Maadi, Cairo
Phone: +20 (0) 2 / 235 98 548
Fax: +20 (0) 2 / 235 96 625
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Fax: +972 (0)3 / 924 0761
EGYPT
ISRAEL
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 977 0770
Fax: + 27 (0)11 / 977 0761
SOUTH AFRICA
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com
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Table of contents
- 39 [Part 1] Overview
- 39 What is the Tracking Function?
- 39 Applications
- 39 Contents of this manual
- 39 The generic name and abbreviation
- 39 System that can achieve
- 40 Components
- 40 Robot controller enclosure products
- 40 Devices Provided by Customers
- 40 Example of System Configuration
- 40 Configuration Example of Conveyer Tracking Systems
- 40 Configuration Example of Vision Tracking Systems
- 41 Tracking Specifications and Restriction matter
- 43 Preparation of Equipment
- 43 manual pilser input) unit specification
- 43 Connection of Equipment
- 43 Connection of Unit
- 43 Connection with encoder for conveyer and encoder cable
- 43 Connection of Photoelectronic Sensor
- 44 Dedicated Input/Output Parameters
- 44 Operation Parameters
- 44 Tracking Parameter Setting
- 44 Robot Parameter Setting
- 44 Sequencer CPU Parameter Setting
- 45 Components
- 45 Robot controller enclosure products
- 45 Devices Provided by Customers
- 45 Example of System Configuration
- 45 Configuration Example of Conveyer Tracking Systems
- 45 Configuration Example of Vision Tracking Systems
- 46 Tracking Specifications and Restriction matter
- 48 Connection of Equipment
- 48 Preparation of Equipment
- 48 Connection of Equipment
- 49 Parameter Setting
- 49 Dedicated Input/Output Parameters
- 49 Operation Parameters
- 49 Tracking Parameter Setting
- 49 [Part 4] Tracking Control (common function between series)
- 90 Sample Robot Programs
- 91 Calibration of Conveyer and Robot Coordinate Systems (“A1” program)
- 91 Operation procedure
- 91 Tasks
- 91 Confirmation after operation
- 91 When multiple conveyers are used
- 92 Calibration of Vision Coordinate and Robot Coordinate Systems (“B1” program)
- 92 Operation procedure
- 92 (2) Tasks
- 92 (3) Confirmation after operation
- 93 Workpiece Recognition and Teaching (“C1” program)
- 93 Program for Conveyer Tracking
- 93 Program for Vision Tracking
- 94 Teaching and Setting of Adjustment Variables (“1” Program)
- 94 Teaching
- 94 Setting of adjustment variables in the program
- 95 Sensor Monitoring Program (“CM1” Program)
- 95 Program for Conveyer Tracking
- 95 Program for Vision Tracking
- 96 Automatic Operation
- 96 Preparation
- 96 Execution
- 96 At error occurrence
- 96 Ending
- 96 Adjusting method
- 97 Maintenance of robot program
- 97 MELFA-BASIC V Instructions
- 97 Timing Diagram of Dedicated Input/Output Signals
- 98 Troubleshooting
- 98 Occurrence of Error Numbers in the Range from 9000 to
- 98 Occurrence of Other Errors
- 98 In such a case (improvement example)
- 99 Appendix
- 99 List of Parameters Related to Tracking
- 99 Shine of changing parameter
- 99 Expansion serial interface Connector Pin Assignment
- 99 Chart of sample program
- 99 Sample Programs