Mitsubishi Electric CR800 Series Instruction Manual page 186

16 In such a case (improvement example)
Do the work of the 'A1'
program again
Start
Adjustment
completion
[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.
[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
16-174 The adsorption position shifts (high speed and accuracy tracking system (vision tracking))
1
【confirmation 4】
Check the case where work at the
center of view is recognized
The gap is
illegular
Confirm of gap
tendency
The position
shifts when the
speed of the
conveyer is fast
【confirmation 5】
Adjust taking picture with the
timing of the encoder input
The position
doesn't shift
Check the shifts
The gap is
constant
【confirmation 7】
Adjustment by status variables
"P_TrkPAcl" and "P_TrkPDcl"
End
The gap is
constant
Do the work of the 'C1'
program again
Check the shifts
The gap is
constant
【confirmation 6】
Adjustment by parameter
"TRADJ1"
Start
The position
doesn't shift
Adjustment
completion