Mitsubishi Electric CR750 Series Instruction Manual page 117

11.2.
In such a case (improvement example)
Explain the improvement example, when building the tracking system using the sample robot program.
11.2.1. The adsorption position shifts.
When the place that shifts from the specified adsorption position has been adsorbed, the cause is
investigated according to the following procedures.
(1) Please confirm
(2) Please confirm whether a difference in the adhesion locations is fixed or different depending on the timing
from which a workpiece is taken.
It's to (3) in case of a fixed difference. When being different depending on timing, it's to (4).
(3) Please change the on timing of a sensor by making reference to "9.5
possible area".
When it can't be settled, it's to the next.
(4) Please confirm whether the timing a stock sensor turns on is right.
When being not right, please do a sensitivity adjustment of a sensor. When being right, it's to the next.
(5) Please confirm the state variable "P_CvSpd (<Logic encoder number>)" using a variable monitor of RT
ToolBox2, and confirm whether conveyor speed isn't changing extremely.
When there is an extreme change, please confirm whether there isn't influence of noise.
When noise doesn't influence, it's to the next.
(6) There is a possibility that the encoder value was abnormal or a possibility that the price of the state
variable "M_EncStart" and "M_EncStop" was changed after instruction work in instruction work by a
program "A1". Please put "8. Teaching Operation("A1" Program) " into effect again.
11.2.2. Make adsorption and release of the work speedy.
Adjust the adjustment variable "PDly1", and the value of X coordinates of "PDly2" of the program 1. Refer to
"Table 9-1 List of variable for operating conditions" for the adjustment method.
11.2.3. Make movement of the robot speedy.
Adjust the following setting to make movement of the robot speedy.
(1) Adjustment of the optimal acceleration-and-deceleration setting
Set mass, size, and center of gravity of the hand installed in the robot as the parameter "HNDDAT1." And,
set mass, size, and center of gravity of the work as the parameter "WRKDAT1."
By this setting, the robot can move with the optimal acceleration and deceleration and speed.
Refer to "Table 6-2 List of Operation Parameter" for setting method.
(2) Adjustment of carrying height
By making low distance at adsorption and release of robot, the moving distance decreases and motion time
can be shortened as a result. Refer to the adjustment variable of "Pup1"and "Pup2" in the "Table 9-1 List of
variable for operating conditions" for change of rise distance.
turntable and the encoder is not slipping.
Adjustment of Tracking starting
In such a case (improvement example) 11-107
11 Troubleshooting