Mitsubishi Electric CR800 Series Instruction Manual page 79

(8) Press the [F1] (FWD) key and execute step feed. "(3)Input the number of the sensor..."is displayed.
<PROGRAM> C1
8 MWrkNo = 1
9 '(2)Input an encoder number to the
10 MEncNo = 1
11 '(3)Input the number of the sensor
FWD JUMP
123
Specify the number of the sensor that monitors workpiece.
If you want to change the sensor number, please edit the program as similar procedure (6).
[D type or R type]
Use the SKIP input signal of the robot controller. Set an arbitrary signal. (No. 801 is set in the
sample program.)
[Q type]
Use the tracking enable signal (TREN). Set the number between 810 and 817.
(9) Press the [F1] (FWD) key and execute step feed. "(4)Move a workpiece to the position..."is displayed.
Move a workpiece to the location where the sensor is activated.
* With this operation, encoder data is acquired.
Area recognized by
a workpiece sensor
(10) Press the [F1] (FWD) key and execute step feed. "(5)Move a workpiece on the conveyer..."is displayed.
Drive the conveyer to move the workpiece within the robot movement range.
Area recognized by
a workpiece sensor
'Set a workpiece
'Set an encoder
BWD
Move the
workpiece
10 Workpiece Recognition and Teaching ("C1" program)
Robot movement range
Robot movement range
Conveyer Tracking 10-67