CRn-700 series Tracking Function Manual ENG

8 Specification

8. Specification

8.1.

Tracking Specifications and Restriction matter

”Table 3

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