Installation Of A Sample Robot Program - Mitsubishi Electric CR800 Series Instruction Manual

7 Installation of a sample robot program

7. Installation of a sample robot program
This chapter explains the structure of the sample robot programs.
Sample robot programs are categorized into two types: for high speed and accuracy tracking and circular arc
tracking. For high speed and accuracy tracking, programs for conveyer tracking and vision tracking are
provided.
Their program structures are shown in "Table 7-1 High Speed and Accuracy Tracking (Conveyer Tracking)",
"Table 7-2 High Speed and Accuracy Tracking (Vision Tracking)", and "Table 7-3 Circular Arc Tracking
(Conveyer Tracking)" respectively.
Refer to "RT ToolBox3 Robot Total Engineering Support Software Instruction Manual" for how to install
programs to the robot controller.
Program name
Conveyer - robot coordinate
A1
system calibration program
Workpiece coordinate system -
C1
robot coordinate system
matching program
1
Operation program
Workpiece coordinate monitor
CM1
program
Program name
Conveyer - robot coordinate
A1
system calibration program
Vision coordinate system –
B1
robot coordinate system
calibration program
Workpiece coordinate system -
C1
robot coordinate system
matching program
1
Operation program
Workpiece coordinate monitor
CM1
program
Program name
A1
Setting program
1 Operation program
Workpiece coordinate monitor
CM1
program
Refer to "8 Calibration of Conveyer and Robot Coordinate Systems ("A1" program)" for high speed and accuracy
tracking, and "12 Teaching Operation ("A1" Program)" for circular arc tracking.
7-48 Dedicated Input/Output Parameters
Table 7-1 High Speed and Accuracy Tracking (Conveyer Tracking)
Description
This program matches the coordinate systems of the conveyer and
robot and calculates the amount of robot movement per encoder pulse.
This program calculates the coordinates at which the robot grabs a
workpiece based on the coordinates at which a sensor is activated.
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
This program monitors encoder values and stores workpiece
coordinates.
Table 7-2 High Speed and Accuracy Tracking (Vision Tracking)
Description
This program matches the coordinate systems of the conveyer and
robot and calculates the amount of robot movement per encoder pulse.
This program matches the vision coordinate system and the robot
coordinate system.
This program calculates the coordinates at which the robot grabs a
workpiece based on the coordinates at which a vision sensor has
detected the workpiece.
This program handles transporting workpieces while following
recognized workpieces.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
This program monitors encoder values and stores workpiece
coordinates.
Table 7-3 Circular Arc Tracking (Conveyer Tracking)
Description
This program synchronizes the coordinate system of the robot with the
conveyer on the arc such as turntable and teaches the location
necessary to conveyance.
The recognized workpiece is followed and transported.
(1) Movement to the robot origin
(2) Workpiece suction and transportation operation while following
movement
This program monitors encoder values and stores workpiece
coordinates.
Explanation
Explanation
Explanation