Mitsubishi Electric CR800 Series Instruction Manual page 97

Conveyer Ending+300mm
Forced ending +400mm
Workpiece movement direction
The conveyer is placed in front of the robot, and
the workpiece flows from the right to left. If you set
<Start position> to -500mm, <Ending position> to
+300mm, a width of tracking area is 800mm.
If you set <Forced ending position> to +400mm,
tracking operation is stopped and interruption
processing occurs when the workpiece goes
beyond Y=+400mm in robot coordinate system.
Conveyer
Workpiece movement direction
Start +500mm
300m
Forced ending +100mm
Ending+200mm
The conveyer is placed on a robot's left-hand side,
and the workpiece flows from the front to rear. If
you set <Start position> to +300mm, <Ending
position> to +200mm, a width of tracking area is
300mm.
If you set <Forced ending position> to +100mm,
tracking operation is stopped and interruption
processing occurs when the workpiece goes
beyond X=+100mm in robot coordinate system.
Figure 11-1 Diagram of the adjustment variables "PRNG" in the Program
800mm
Start-500mm
11 Teaching and Setting of Adjustment Variables ("1" program)
400mm
Conveyer
Start+300mm
Forced ending -200mm
Workpiece movement direction
The conveyer is placed in front of the robot, and
the workpiece flows from the left to right. If you set
<Start position> to +300mm, <Ending position> to
-100mm, a width of tracking area is 400mm.
If you set <Forced ending position> to -200mm,
tracking operation is stopped and interruption
processing occurs when the workpiece goes
beyond Y=-200mm in robot coordinate system.
Workpiece movement direction
Forced ending+400mm
Ending+200mm
The conveyer is placed on a robot's right-hand
side, and the workpiece flows from the rear to
front. If you set <Start position> to -100mm,
<Ending position> to +200mm, a width of tracking
area is 300mm.
If you set <Forced ending position> to +400mm,
tracking operation is stopped and interruption
processing occurs when the workpiece goes
beyond X=+400mm in robot coordinate system.
Adjusting the operating conditions of variables 11-85
Ending -100mm
Conveyer
300m
Start -100mm