Teaching Of The Circular Arc Tracking ("A1" Program); Preliminary Preparations; Setting Of Tool Length - Mitsubishi Electric CR800 Series Instruction Manual

12 Teaching of the Circular Arc Tracking ("A1" Program)

12. Teaching of the Circular Arc Tracking ("A1" Program)
* The tasks described in this chapter are required for circular arc tracking (conveyer tracking).
* Refer to "8 Calibration of Conveyer and Robot Coordinate Systems ("A1" program)" for high speed
and accuracy tracking.
This chapter explains the tasks carried out by using "A1" program.
You can just execute "1" program and do now circular arc tracking by putting this work into effect.
Please refer to "Detailed Explanations of Functions and Operations" for the steps involved in each operation.

Preliminary preparations

12.1.
This chapter explains the knowledge about confirmation and operation necessary to a minimum before
beginning work.
The contents which should be checked are "Tool length" and "change in the encoder value".

Setting of tool length

12.1.1.
When you'd like to change the angle at the place which isn't a flange part of a robot (For example, tip of a
hand), you have to set tool length.
The "tool length automatic measuring system" function of RT ToolBox3 is useful when setting tool length.
Refer to "RT ToolBox3 Robot Total Engineering Support Software Instruction Manual" about operational
details.
When the robot model and robot controller which have connected, correspond to this function, a [Tool
automatic calculation] is displayed under [Maintenance] in the project tree. Double-click [Online] ->
[Maintenance] -> [Tool automatic calculation] in the project tree.
12-92 Preliminary preparations