Mitsubishi Electric CR800 Series Instruction Manual page 183

16. In such a case (improvement example)
Explain the improvement example, when building the tracking system using the sample robot program.
The adsorption position shifts (high speed and accuracy tracking system
16.1.
(conveyer tracking))
When the place that shifts from the specified adsorption position has been adsorbed, the cause is
investigated according to the following procedures.
Do the work of the 'A1'
program again
Start
Not correct
Adjust the sensitivity of the
sensor
The position
doesn't shift
Adjustment
completion
The adsorption position shifts (high speed and accuracy tracking system (conveyer tracking)) 16-171
Start
Check the
position gap
The position
shifts.
【confirmation 1】
Confirm whether neither the
encoder nor the conveyer slip.
Check the slip of
encoder
Not slip
【confirmation 2】
Confirm whether the gap is
constant
The gap is
irregular Confirm of gap
tendency
The gap is
irregular by the
timing
【confirmation 3】
Check the timing which the sensor
is ON
Check the timing
Correct
Check the shifts
The gap is
constant
【confirmation 5】
Adjustment by status variables
"P_TrkPAcl" and "P_TrkPDcl"
End
16 In such a case (improvement example)
The position
doesn't shift
Adjustment
completion
Slip
Fix the encoder
The gap is
constant
Do the work of the 'C1'
program again
Check the shifts
The gap is
constant
【confirmation 4】
Adjustment by parameter
"TRADJ1"
Start
The position
doesn't shift
Adjustment
completion