Mitsubishi Electric CR800 Series Instruction Manual page 199

Scene of changing parameter
18.3.
When the tracking function is used, the parameter need to be changed depends on operation phase. List of the
parameter is shown as follow.
No. Operation phase
Power on
1 Setting origin
JOG operation
Attach option
2 Connection with
peripherals
In case of
system debag
3
In case of
system debug
4
5
Others
6
7
Table 18-3 List of the user scene of changing parameter
Parameter
Example
name
－ －
TRMODE 1
TRCWDST 20.0
+0.00,
+4.00,
+0.00,
+0.00,
TRADJ1 +0.00,
+0.00,
+0.00,
+0.00,
+0.00
TRBUF 3, 100
0,0,0,0,
ENCRGMN
0,0,0,0
100000000
100000000
100000000
100000000
ENCRGMX
100000000
100000000
100000000
100000000
Explanation
It makes tracking function valid.
By being valid, incremental encoder value can be got.
In case of vision tracking, if there is a workpiece not
recognized well by vision sensor, it might reply over one
recognition results to one workpiece. In this case, it makes
possible to get only one recognition result excluding the
results with the distance which is shorter than the distance
set by this parameter. For example, it is recognized that 3
vision sensors exist for 1 workpieces. This one workpiece is
got and another 2 workpieces are not got because the
distance of result is shorter than it set 20mm.
It is possible to adjust the gap by using this parameter when
this gap is caused every time in the same direction when
the tracking operates.
For example, the speed of conveyer is 50mm/s and there is
+2mm gap (＋Y direction) +2mm,
Set value = 4.0 (2 / 50 * 100 )
+4.0 is set to the second element that shows Y coordinates.
When three kinds of workpieces flow respectively on the
three conveyers for one robot controller, three tracking
buffers where workpiece information is preserved are
needed. In this case, the first element of this parameter is
changed to three.
Moreover, when TrWrt command is frequently executed
and TrRd command is slow, workpiece information collects
in the tracking buffer. Because the error occurs when 64
workpieces information or more on an initial value collects,
it is necessary to increase the number in which work
information is preserved. Then, the second element of this
parameter is changed to 100.
This parameter is a parameter that sets the range of the
value of state variable M_Enc.
M_Enc becomes the range of 0-100000000, and next to
100000000, it becomes 0 encoder rotates in case of an
initial value.
Though this range is changed by this parameter, tracking
sample program is made on the assumption that it is used
within this range, so do not change this parameter.
Scene of changing parameter 18-187
18 Appendix