Get-Position-Quick Function - Mitsubishi Electric CR750-Q Instruction Manual

7.6 Get-position-quick function

7.6.1 Outline
The get-position-quick function (GPS function) allows monitoring and responding quickly to the input signal
from an external sensor, which enables the accurate robot position data acquisition according to the signal
input timing.
This function is used for the alignment correction (correcting a position deviation of a workpiece by the accu-
rate robot position data acquisition according to the timing when an external sensor passes) and the map-
ping (the workpiece presence recognition).
The GPS function has the following two functions. For details on how to use each function, refer to
705, "(1) Position data acquisition at the sensor input timing"
tion in a cassette".
Table 7-24:GPS function list
No.
1 Position data acquisition at the sensor input timing
2 Workpiece presence recognition in a cassette
7.6.2 Specifications of the GPS Function
The specifications of the GPS function are as shown in the table below.
Table 7-25:Specifications of the GPS function
Position data acquisi-
tion at the sensor
input timing
Workpiece presence
recognition in a cas-
sette
Function
Item
Condition for the position
data acquisition
Controlling to start/stop
monitoring
Position data latch
Condition for the work-
piece presence recognition
Controlling to start/stop
monitoring
Position data latch
or Page 706, "(2) Workpiece presence recogni-
Alignment correction
Mapping
Define a condition for the position data acquisition in the Def Gps command.
Control to start/stop monitoring the input signal with the GpsChk command.
Store the position data in the P_GpsX() at the point in time when a condition for
the position data acquisition is met ("X" indicates the same number as the tar-
get monitoring number from 1 to 8).
(Up to 400 data)
Define a condition for the workpiece presence recognition in the Def Map com-
mand.
Control to start/stop monitoring the input signal with the GpsChk command.
Store the position data in the P_GpsX() at the point in time when a condition for
the position data acquisition is met ("X" indicates the same number as the tar-
get monitoring number from 1 to 8).
(Up to 400 data)
Usage
Specifications
Get-position-quick function Appendix-701
7Appendix
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