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CR750/CR751 series controller Tracking

1. I ACIN POWER clalz le Jo Within 300mm CNUSR2 connector Ferrite core lt Eneoder cable Pass twice Figure 10 7 Installation of encoder cable CR751 D series 3 CR1D 700 series Connect the encoder cable to the connector of the CNENC display And the ground of the cable uses the rear cover 10B o 10A Lo a a E O E eg Connector CNENC il 1 A i E BLEST I Habe i va at Less than 300mm Rear cover Cable ground clamp position ground clamp attachments Ferrite core attachments Encoder cable Figure 10 8 Installation of encoder cable CR1D 700 series 10 42 Connection of Equipment 10 Connection of Equipment 4 CR2D 700 series Connect the encoder cable to the connector of the CNENC display And the ground of the cable uses the rear cover Rear cover 1B 1A Q Connector CNENC Less than 300mm i Encoder cable Cable ground clamp po
2. AA lt Transportation data setting gt End lt Tracked workpiece takeout gt Start P If a workpiece exists No Yy Move to the escape position 21 Appendix y Read data from the tracking buffer y Transportation data setting gt y Acquire the current workpiece position Workpiece position confirmation Wait flag o y Move to workpiece wait posture PWAIT y Wait flag 1 Wait 1 lt Tracked workpiece takeout gt Position of workpiece Set the ACC and DCC Turn on the interrupt watch y Tracking operation start Move to over the tracking position v Set the ACC and DCC Move to a suction position AA Turn suction ON y adsorbtion confirmation AA Turning continuous movrment control ON y Set the ACC and DCC Move to over the suction position y Tracking operation end v Turn off the interrupt watch y Set the ACC and DCC to 100 v Wait flag 0 t End Already passed 3 Inside the area 2 Chart of sample program 21 119 21 Appendix Front1 Start lt Transportation data ae Front 2 onveyer position pattern right and left 1 right and left 2
3. Personal computer part Personal computer Please refer to the instruction manual of RT ToolBox2 or the instruction of the network vision sensor for details of the personal computer specifications RT ToolBox2 3D 11C WINE Please refer to the instruction manual of RT Personal computer ToolBox2 for the details of the personal computer 3D 12C WINE eas support software specifications Components 7 33 7 System Configuration 7 2 Example of System Configuration The following figure shows examples of conveyer tracking systems and vision tracking systems 7 2 1 Configuration Example of Conveyer Tracking Systems The following figure shows a configuration example of a system that recognizes lined up workpieces on a conveyer passing a photoelectronic sensor and follows the workpieces Robot Controller Photoelectric sensor Detected the inflow of the work Encoder Detected the speed of the conveyor MS SS NS A Ny a Workpieces flow direction Robot movement range Workpieces Figure 7 1 Configuration Example of Conveyer Tracking Top View Paraller O cable Photoelectric sensor Example of CR2D controller It is the same by other controller Encoder cable Figure 7 2 Configuration Example of Conveyer Tracking 7 34 Example of System Configuration 7 System Configuration 7 2 2 Configuration Example of Vision Tracking Systems The following figure
4. 6 Z axis elevation 4 Sticker movement 2 Robot movement 5 Robot movement MEncoder data acquisition Encoder data acquisition Position acquisition Position acquisition 1 6 in the figure shows the details of operations in the sample program Figure 13 1 Conveyer and Robot Calibration Operation Diagram 13 50 Operation procedure 13 Calibration of Conveyer and Robot Coordinate Systems A1 program 13 2 Tasks lt PROGRAM gt A1 1 Set the encoder number to the X coordinates value of position variable PE a Press the function key F2 corresponding to the change and display the position edit screen KPOS gt JNT 100 P5 X 0000 00 A 0000 00 Y 0000 00 B 0000 00 HH Ver Al doe Z 0000 00 0000 00 tracking robot oe calibra L1 0000 00 12 0000 00 z 3 NAME Al p 4 Create version He 123 5006 04 21 Al FL1 00000007 FL2 00000000 b The F3 Prev key or the F4 Next key is pressed change the target variable and display PE on the position name lt POS gt JNT 100 PE X 0000 00 A Y 0000 00 B Z 0000 00 L1 0000 00 L2 FL1 00000007 FL2 0000 00 0000 00 00000000 c X coordinates are selected by the arrow key press the CLEAR key for a long time and delete the z details Input the encoder number into X coordinates lt POS gt JNT 100 PE X 0001 00 Y 0000 00 Z 0000 0
5. S N S NS Workpiece Figure 10 12 Photoelectronic Sensor Arrangement Example Photoelectric sensor Example of 3 line type Controller general purpose input Parallel I O unit 3 3K 21 General purpose input 6 External power supply Note The external power supply and photoelectric sensor must be prepared by the customer Note This connection example shows the connection of the source type Figure 10 13 Photoelectronic Sensor Connection Example 6th General Input Signal is Used Connection of Equipment 10 45 11 Parameter Setting 11 Parameter Setting This chapter explains how to set dedicated input output signals that play the role of interface between a robot and an external device e g a Programmable Logic Controller and parameters related to the tracking function Please refer to Detailed Explanations of Functions and Operations for how to set the parameters 11 1 Dedicated Input Output Parameters Table 11 1 List of Dedicated Input Output Parameters lists the setting items of dedicated input output parameters used to operate the robot via instructions from an external device Set the signal numbers according to your system using the setting values in the table as reference It is not necessary to set these parameters if the robot operates by itself rather than via instructions from an external device Table 11 1 List of Dedicated Input Output Parameters Sett
6. 50 LREAD 51 TrRd PBPOS MBENC MBWK 1 MBENCNO Read data from the tracking buffer 52 GoSub S40DTSET Transportation data setting 53 Workpiece position confirmation 54 LNEXT 55 PXS50CUR TrWcur MBENCNO PBPOS MBENC Acquire the current workpiece position 56 MXS50ST PRNG X Start distance of the range where the robot can follow a workpiece Sample Programs 21 127 21 Appendix 57 MX50ED PRNG Y follow a workpiece 58 MXS50PAT PTN X 59 GoSub SSOWKPOS 60 If MY50STS 3 Then GoTo LBFCHK 61 If MY50STS 2 Then GoTo LTRST 62 If MWAIT 1 Then GoTo LNEXT 63 To standby position 64 PWAIT P1 65 Select PTN X 66 Case1To2 67 PWAIT X PX50CUR X workpiece 68 Case 3To6 69 PWAIT Y PX50CUR Y workpiece 70 End Select 71 PWAIT Z PX50CUR Z PUP1 X 72 PWAIT C PX50CUR C 73 Mov PWAIT 74 MWAIT1 1 75 GoTo LNEXT 76 Start tracking operation 77 LTRST 78 Accel PAC1 X PAC1 Y 79 Cnt 1 0 0 80 Act 1 1 81 Trk On PBPOS MBENC PTBASE MBENCNO 82 Mov PGT PUP1 Y Type 0 0 83 Accel PAC2 X PAC2 Y 84 Mov PGT Type 0 0 85 GoSub S85CLOSE 86 MX80ENA PHND X 87 MX80SIG PHND Y 88 MX80SEC PDLY1 X 89 GoSub S80CWON 90 Cnt1 91 Accel PAC3 X PAC3 Y 92 Mov PGT PUP1 Z Type 0 0 93 Trk Off 94 Act1 0 95 Accel 100 100 96 MWAIT 0 97 Return 98 99 Workpiece placing processing 100 S30WKPUT 101 102 103 104 105 106 107 108 109 110 111 112 113 Accel PAC11 X PA
7. BFP A8664 H The explanations about Encoder distribution unit option were added mPreface Thank you very much for purchasing Mitsubishi Electric Industrial Robot The tracking function allows robots to follow workpieces on a conveyer or transport line up and process the workpieces without having to stop the conveyer The conveyor tracking function is the standard function in the controller It can use only by having the parameter TRMODE changed into 1 Please be sure to read this manual carefully and understand the contents thoroughly before starting to use the equipment in order to make full use of the tracking function Within this manual we have tried to describe all ways in which the equipment can be handled including non standard operations to the greatest extent possible Please avoid handling the equipment in any way not described in this manual Tracking function is installed as standard for the controller and the function can be used only by changing parameter TRMODE from 0 to 1 However there are different parts in the system configuration and the way of programming in the CR750 Q CR751 Q CRnQ 700 series and the CR750 D CR751 D CRnD 700 series Please give the attention that this manual explains these differences between CR750 Q CR751 Q CRnQ 700 series and CR750 D CR751 D CRnD 700SD series Note that this manual is written for the following software version CR750 Q CR751 Q series Ver R3 or late
8. Figure 14 3 Screen of In Sight Explorer from which calibration seat is taken picture 14 58 Tasks 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 4 End Live Video of In Sight Explorer and select Inspect Part button of Application Steps 5 Select Geometry Tools User Defined Point in Add tool Q Eile Edit View Image Sensor System Window Help OSG EISRIABBXIOCE NH gt ewOO QQ Mm Hee Bie og HOM S o83F DQ i Application Steps 1 Start Help Results Links 1 0 TestRun 1521381 Name Result Palette a aap Get Connected a Set Up Image 2 Sot Up Toots ll p Locate Part 3 Configure Results 4 Finish CIJ Filmstrip d Save Job Rate 100 0 5 5 Offline Time 0 0ms IJ Allows you to position a reference point within the a ie bisa image reports the XY coordinates of the point isect Angle N Line From N Points Click the Add button to begin Circle From N Points For more information please see the Help tab of the A Circle Line Intersectior Palette User Defined Line 41 Circle Fit Figure 14 4 Screen of In Sight Explorer from which calibration seat is taken picture 6 Click Add button Then the cross sign enclosed with circle on the screen is displayed Move it to the mark of the calibration seat and click OK button 7 Specify the User Defined point in three points
9. 24 s oO to3 J Twisted pair cable J Twisted pair cable Note 1 The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect HPSELO to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used Figure 5 3 Wiring connection with rotary encoder As above image because DCS5V voltage is output from Q173DPX unit it makes possible to supply 5V from Q173DPX unit to rotary encoder When 24V encoder type of power supply is used it makes possible to use 24V output from PLC power unit 5 18 Preparation of Equipment 5 Connection of Equipment The interface between tracking enable signal is shown follow This signal is used for input signal when the photoelectronic sensor is used to find workpieces so please connect output signal of photoelectronic sensor a between tracking enable signal ae ae TRENO A4 A3 Tracking enable signal input Tracking g put enable TREND B4 B3 12V to 24VDC Note As for the connection to tracking enable TRENO TRENO both and are possible Figure 5 4 Connected composition of tracking enable signal ZACAUTION if a separate power supply is used as the manual pulse gene
10. T B rear 3 Press one of the keys example EXE key while the lt TITLE gt screen is displayed The lt MENU gt screen will appear MELFA CR75x D Ver S3 lt MENU gt RH 3FH5515 D 1 FILE EDIT 2 RUN COPYRIGHT C 2011 MITSUBISHI ELEC 3 PARAM 4 ORIGIN BRK ARIS CORPORATION ALL RIGHTS RESE 5 SET INIT 4 Select 1 FILE EDIT screen on the lt MENU gt screen 1 20Rem 136320 a Hee 4 ORIGIN BRK 07 05 30 20 21 30 07 05 30 20 21 30 5 Press the arrow key combine the cursor with the program name C1 and press the EXE key Display the lt program edit gt screen 1 20Rem 07 05 30 20 21 30 1 Ver Al HHHH HHRHH 07 05 30 20 21 30 2 tracking robot conveyor calibra 07 05 30 20 21 30 3 NAME C1 prg 07 05 30 20 21 30 4 Create version 2006 04 21 Al ayua paa 123 ELOZU a Program for Conveyer Tracking 15 63 15 Workpiece Recognition and Teaching C1 program 6 Press the FUNCTION key and change the function display lt PROGRAM gt C1 1 Ver Al He H HHHH HHEH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH lt PROGRAM gt C1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al 7 Press the F1 FWD key and execute step feed 1 Vision No is displayed lt PROGRAM gt C1 4 Create version
11. N CAUTION There is one robot controller connectable with the one encoder If two or more robot controllers are connected to the one encoder the waveform of the encoder falls and the exact encoder value may be unable to be acquired If you want to connect two or more robot controller to the one encoder the Encoder distribution unit model 2F YZ581 is required Refer to the Encoder Distribution Unit Manual BFP A3300 for details 10 38 Preparation of Equipment 10 Connection of Equipment 5V power supply unit CNENC connector Terminal Brown 5V Blue 0V Black Black Red stripe White Encorder 5V power supply unit White Red stripe Sa Orange Orange Red stripe Brown 5V Blue 0V Black Black Red stripe White White Red stripe 5 Encorder Orange m Orange Red stripe Figure 10 1 Wiring of the encoder for conveyors and encoder cable CRnD 700 series controller Refer to Table 21 3 Connectors CNENC CNUSR Pin Assignment with pin assignment of connector CNENC The wiring example by the thing is shown below Please note that the connector shape is different depending on the controller Figure 10 2 Wiring example CRnD 700 series con
12. 10 1 Preparation of Equipment Prepare equipment by referring to Table 2 2 List of Devices Provided by Customers Conveyer Tracking to construct a conveyer tracking system and Table 2 3 List of Devices Provided by Customers Vision Tracking to construct a vision tracking system 10 2 Connection of Equipment This section explains how to connect each of the prepared pieces of equipment 10 2 1 Connection of Conveyer Encoder Wiring of the encoder for the conveyors and the encoder cable is shown in the Figure 10 1 CRnD 700 series or Figure 10 3 CR750 D CR751 D series Those shows the connection between a Expansion serial interface card connector and an encoder The cable uses E6B 2 CWZ1X by OMRON The a maximum of two encoders for the conveyors are connectable as standard specification A total of 8 signal wires are required for the connection for the power supply and terminals and the and terminals of the differential encoders A B and Z phases Refer to the instruction manual of the encoders to be used and connect the signal wires correctly Note that shielded wires SLD should be connected to the ground of the controller and system N CAUTION Be sure to mount ferrite cores on all encoder cables Be sure to mount the ferrite cores on the encoder cables at a position near the robot controller If ferrite cores are not mounted the robot may malfunction due to the influence of noise
13. CR750 D CR751 D series controller Robot program language Load commands dedicated for the tracking function Conveyer Number of Max 2pcs in case 1pcs encoder connect to 1pcs conveyer conveyer Encoder 2pcs Robot controller 1pcs The robot controller can correspond to two conveyers by the standard specification Movement Possible to support up to 300 mm s When the robot always transport the speed 1 workpieces Possible to support up to 500 mm s when the interval of workpiece is wide Possible to support two conveyers by one Robot controller Output aspect A A B B Z Z Output form line driver output 2 Highest response frequency 100 kHz Resolution pulse rotation Up to 2000 4000 and 8000 uncorrespond Confirmed operation product Omron E6B2 CWZ1X 1000 E6B2 CWZ1X 2000 Encoder Encoder cable Shielded twisted pair cable Outside dimension Maximum phi6mm Conductor size 24AWG 0 2 mm Cable length Up to 25 m Photoelectronic sensor 3 Used to detect workpieces positions in conveyer tracking Vision sensor 4 Mitsubishi s network vision sensor Precision at handling Approximately 2 mm when the conveyer speed is approximately 300 mm s position 5 Photoelectronic sensor recognition accuracy vision sensor recognition 1 2 3 4 5 6 accuracy robot repeatability accuracy and so on The specification values in the table should only be consid
14. d Program for Vision Tracking 15 73 15 Workpiece Recognition and Teaching C1 program 4 Specify a communication line to be connected with the vision sensor a Open the Command edit screen lt PROGRAM gt C1 1 Ver Al HHHH HHHH HEHEHEHEH 2 tracking robot cee calibra 3 NAME C1 p 4 Create version 5006 04 21 Al aua paa 123 ELSZU le b Display the command step shown in the following COM Noo omun 12 CCOM COM2 13 Program neme of Vision 14 CPRG TRK JOB EDIT DELETE 123 INSERT TEACH c Press F1 edit key and specify the line opened for the robot controller may connect with the vision sensor to the variable CCOM example Open COM3 ROGRAM ROGRAM 12 CCOM COM2 2 CCOM COM3 EDIT DELETE INSERT TEACH INSERT TEACH d Press the EXE key and edit is fixed 14 Ra TRK JOB EDIT DELETE 123 INSERT TEACH 5 Specify a vision program to be started In the same way as in step 3 change the vision program name entered after CPRG in the program 6 Place a workpiece to be recognized within the area that the vision sensor can recognize 7 Using In Sight Explorer place the vision sensor in the online status 15 74 Program for Vision Tracking 15 Workpiece Recognition and Teaching C1 program 8 Using T B close the opened C1 program once and then run the modified C1 program automatically with the robo
15. j prm 1 Execute the GX Works2 and select the project file 2 Double click the PLC Parameter then the Q Parameter Setting is displayd i Project Edit Find Replace DRAF ii en a i el ci CP Ga 2 Gp iz A E Parameter P PLC Parameter BR Network gt eter Hin Remote Password 6 28 Tracking Parameter Setting 6 Parameter Settin 3 Double click the Multiple CPU Setting Q Parameter Setting x PLC Name PLC System PLCFile PLCRAS Boot File Proaram SFC Device 1 O Assignment Multiple CPU Setting jNo of PLE 1 Online Module Change 1 em I Enable Online Module Change with Another PLC x When the online module change is enabled with another PLC I O status outside the group cannot be taken 1 O Sharing When Using Multiple CPUs 1 PLC No 1 ad all CPUs Can Read All Inputs JT all CPUs Can Read All Outputs Operation Mode 1 Error Operation Mode at the Stop of PLC Multiple CPU High Speed Transmission Area Setting Communication Area Setting Refresh Setting I All station stop by stop error of PLC IV All station stop by stop error of PLC2 IEEE pve errr FF Al station stor top error of PLC J7 Use Multiple CPU High Speed Transmission Multiple CPU Synchronous Startup Setting 1 Target PLC W No 1 No 2 F Set auto refresh setting if itis needed No Setting Already Set iy FN Ta X Points 7 Advanced Setting 1
16. 10 Display PPT at the transportation point position on the Position data Edit screen Turn on the servo by gripping the deadman switch lt POS gt JNT 100 PPT X 50 00 A 0000 00 Y 500 00 B 90 00 Z 400 00 C 45 00 L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 11 Move the robot to the position of PPT pushing F1 MOVE Teaching 16 77 16 Teaching and Setting of Adjustment Variables 1 Program 16 2 Setting of adjustment variables in the program The following section explains how to set adjustment variables which are required at transportation and details about their setting Please refer to separate manual Detailed Explanations of Functions and Operations for how to set adjustment variables Table 16 1 List of Adjustment Variables in Programs Variable Explanation Setting example name PWK Set the model number When you set 1 to the model number X model number 1 to 10 X Y Z A B C 1 0 0 0 0 0 PRI 1 program and CM1 program are run When you set to run 1 program by one simultaneously multitasking 1 program moves the line and run CM1 program by 10 lines robot and CM1 program observes the sensor X Y Z A B C 1 10 0 0 0 0 It is possible to specify which program is processed with a higher priority rather than performing the same amount of processing at the same time X Set the line number
17. CR750 Q CR751 Q CRnQ 700 series Part 2 System Configuration CR750 Q CR751 Q CRnQ 700 series 2 6 System Configuration systemup Setting option parts Connection to encoder Parameter setting Part 4 Tracking Control 12 21 Sample program Teaching Automatic operation Trouble shooting CR750 D CR751 D CRnD 700Series Part 3 System Configuration CR750 D CR751 D CRnD 700 series 7 11 System Configuration systemup Setting option parts Connection to encoder Parameter setting Part 4 Tracking Control 12 21 Sample program Teaching Automatic operation Trouble shooting Contents of this manual 1 3 1 Overview 1 4 The generic name and abbreviation Generic name and abbreviation List 1 1 generic name and abbreviation Contents Tracking function The tracking function allows a robot to follow workpieces moving on a conveyer With this function it becomes possible to transport line up and process workpieces without having to stop the conveyer Conveyer tracking The conveyer tracking allows a robot to follow workpieces lining up on a conveyer With this function it becomes possible to transport process workpieces Vision tracking The vision tracking allows a robot to follow workpieces not lining up on a conveyer With this function it becomes possible to transport line up and process workpieces Network vision sensor The network vision sensor is an option which makes it possible to inspec
18. PUP2 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC12 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PDLY2 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC13 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 POFSET 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 P9O0CURR 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 P90ESC 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 P91P 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 0 21 132 Sample Programs 21 Appendix 4 CM1 Prg 1 HHH Ver A3 FARRAR AHR 2 Conveyer tracking sensor monitoring program 3 Program type CM1 prg 4 Date of creation version 2012 07 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION 6 RRR HAHAHA EAE EEE EEE PEP 7 8 HHH Main processing 9 SOOMAIN 10 GoSub S10DTGET Processing for acquiring required data 11 LOOP 12 GoSub S20WRITE Workpiece position writing processing 13 GoTo LOOP 14 End 15 HHH Data acquisition processing 16 S10DTGET 17 Acquire the suction position amount of encoder movement and encoder number set with program C 18 MWKNO M_09 Acquire model number 19 M10ED M_101 MWKNO Amount of encoder movement 20 MENCNO P_102 MWKNO X Encoder number 21 MSNS P_102 MWKNO Y Sensor number 22 Calculate the workpiece position X Y when the sensor is activated 23 PWPOS P_100 MWKNO P_EncDIt MENCNO M10ED
19. RH 3S HR at the joint operation However when the tracking operation passes Refer to Figure 16 1 Diagram of over the singular point neighborhood for straight Relationship between Adjustment line operation the J1 axis accelerates rapidly and Variables PRNG and P3HR in the speed limit H213x error x axis number is Program generated Then the singular point neighborhood is limited to the tracking by setting this parameter X The Time in which the robot can move over the workpiece ms Y The Maximal speed for J3 axis mm s Z The radius of area made singular point neighborhood mm 16 80 Setting of adjustment variables in the program 16 Teaching and Setting of Adjustment Variables 1 Program lt Restrictions of RH 3S HR when using the tracking function gt The RH 3S HR can not pass over the singular adjustment point while the tracking operation It is necessary to avoid singular adjustment point and place the conveyer As shown in Figure 16 1 or Figure 16 2 If the conveyer is installed at right under the robot the operation range of tracking must been setting out of range of singular adjustment point orkpiece ovement direction 3 gt PEELE Distance that the robot can follow a workpiece calculated by X value Y value speed of conveyer and PUP1 value Figure 16 1 Diagram of Relationship between Adjustment Variables PRNG and P3HR in the Program Setting of ad
20. 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PDLY2 1 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PAC13 100 000 100 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 POFSET 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PSOFWCUR 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PTRST 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PTRED 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PS50TRST 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 P50TRED 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 P90CURR 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 P90ESC 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 P91P 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 0 Son Sample Programs 21 145 a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 5 1 14 YADA MINAMI HIGASHI KU NAGOYA 461 8670 JAPAN Authorised representative MITSUBISHI ELECTRIC EUROPE B V GERMANY Gothaer Str 8 40880 Ratingen P O Box 1548 40835 Ratingen Germany Feb 2014 MEE Printed in Japan on recycled paper Specifications are subject to change without notice
21. 14 3 3 Confirmation afteroperatioi ssri ara eet aE Aai Erd ARA TAERE RA PAEKO EEE ANTERE AE RET EEES 14 62 15 Workpiece Recognition and Teaching C1 program cceecceeeeeeeeeeeeeeeeeeseeeeeeseeeeeeseeaeeeeeeaeees 15 63 15 1 Program for Conveyer Tracking ara eeina aa A EE tines ee eee TEREE EREATARA 15 63 15 2 Program for Vision racking eiere a atin ieee ede EAEE cheb tiie eee 15 67 16 Teaching and Setting of Adjustment Variables 1 Program ccccceeeeeeeeseeneeeeeeeneeeeseeaeeeeeeaaees 16 77 16 1 TEACHING aanre gd cute ede ots eeetee a nites vente Meee thee ede ien ede 16 77 16 2 Setting of adjustment variables in the program 0 eeeeecceeeeeeeeeeeeeeeeeeeeeeseeeeeeeseeeaeeeseeaeeeeeeaaeees 16 78 Nike Sensor Monitoring Program CM1 Program cccceceeeeeeeeteeeeeeeneeeeetineeeeetieeeeetiieeeeesieeeeeeeeeereaa 17 84 17 1 Program for Conveyer Tracking errena en eaaa EEEE ENR senses ERARETO 17 84 17 2 Program Tor Vision Tracking ecir a A AE AE EAEE EETA EREE 17 84 18 Automatic Operationen ea are a ae aa E ater daa ode a a i ar a a 18 85 18 1 Popara O r a a r aa a a e A r 18 85 18 2 Executora A A EEE T T 18 86 18 3 Aterror OCCUNe NCE aiaa E A nice AE AEE A EET 18 86 18 4 Endigi ren a A E E EE T 18 86 18 5 Adjusting me hode oiar i a A A EEE E A 18 86 19 Maintenance of robot prog aiena E r A AEEA A TE TEE 19 87 19 1 MELFA BASIGV InshuUcionS de r aiid ica denn dich dei 19 87 1912 beror
22. 169 Select MXSOPAT Conveyer pattern 170 Case 1 Front right gt left 171 M50STT MX50ST The start side has a negative value 172 MS50END MXS50ED 173 If PosCq PXSOCUR 1 And PXSOCUR Y gt MS50STT And PXSOCUR Y lt MS50END Then 174 MYS50STS 2 Tracking possible 175 The processing to singular point of RH 3S HR 176 PTRST Y P_CvSpd MBENCNO Y MTRSTT 1000 177 PTRST PTRST P50FWCUR Position when beginning to follow as for workpiece 178 PTRED Y P_CvSpd MBENCNO Y MTREND 1000 179 PTRED PTRED P50FWCUR Position when having finished following Sample Programs 21 141 21 Appendix as for workpiece 180 If PTRST X gt P3HR Z And PTRST X lt P3HR Z Then case the singular point area 181 If PTRST Y lt P3HR Z And PTRED Y lt P3HR Z Then MY50STS 2 The position of the work peace is OK from the singular point if previous 182 If PTRED Y gt P3HR Z And PTRED Y lt P3HR Z Then MY50STS 3 If the tracking end position is singular point neighborhood it is NG 183 If PTRST Y gt P3HR Z And PTRST Y lt P3HR Z Then MYSOSTS 3_ If the tracking start position is singular point neighborhood it is NG 184 If PTRST Y gt P3HR Z And PTRED Y gt P3HR Z Then MY50STS 3 _ It is NG if passing over the singular point 185 Endlf 186 The processing to singular point of _RH 3S HR 187 Else If tracking not possible 188 If PXSOCUR Y lt 0 Then MY50STS 1 Wait 189 If PXSO
23. Adjusting method You can confirm the follow operation by automatic driving Refer to Maintenance of robot program in Chapter 19 when you want to adjust it And refer to In such a case improvement example in Chapter 20 3 18 86 Execution 19 Maintenance of robot program 19 Maintenance of robot program This chapter explains information required when maintaining the sample programs robot program language MELFA BASIC V and dedicated input output signals 19 1 MELFA BASIC V Instructions The lists of instructions status variables and functions related to tracking operation are shown below Please refer to the separate manual Detailed Explanations of Functions and Operations for further information about MELFA BASIC V 19 1 1 List of Instructions Table 19 1 List of Instructions Function Specify the workpiece coordinate origin of teaching data and tracking external encoder logic number Clear the tracking data buffer Declare start and end of the tracking mode Output signals from a general purpose output and read the encoder values Read workpiece data from the tracking data buffer Write workpiece data in the tracking data buffer Instruction name TrBase TrClr 19 1 2 List of Robot Status Variables Table 19 2 List of Robot Status Variables Variable name Number of arrays Attribute 1 Function Data type M_Enc P_EncDlt M_Trbfct 1 R Only reading is perm
24. Assignment Confirmation The total number of points is up to 14K 1 Setting should be set as same when using multiple CPU _Import Multiple CPU Parameter Print Window Print Window Preview Acknowledge XY Assignment Default Chek Cancel Set the number of CPU and this system area size K Points 4 Double click the I O assignment When Q173DPxX unit is attached to fifth slot change the type of slot 5 to the Intelligent Q Parameter Setting x PLC Name PLC System PLC File PLCRAS Boot File Program SFC Device 1 O Assignment Multiple CPU Setting I O Assignment 1 uc i O Puc PLC No 2 Assigning the I O address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error to occur p Base Setting 1 lt i Base Mode i Base Model Name Power Model Name Extension Cable G Auto lol Main i Ext Base1 C Detail Ext Base2 J Ext Base3 8 Slot Default Ext Base4 Ext BaseS 12 Slot Default Ext Base6 Ext Base7 1 Setting should be set as same when using multiple CPU Import Multiple CPU Parameter Read PLC Data Print Window Print Window Preview Acknowledge XY Assignment Default Check Cancel ee II IIA Iaa e Tracking Parameter Setting 6 29 6 Parameter Setting
25. It is recommended to use the jig if high precision is required Model Quantity Remark Conveyer part Conveyer Encoder with encoder Line driver output Confirmed operation product Omron encoder E6B2 CWZ1X 1000 or 2000 Encoder cable Twisted pair cable with the shield CRnD 700 series controller Recommended connector for encoder input terminal 10120 3000PE plug made by 3M 10320 52F0 008 shell made by 3M _5V power supply he es 5 VDC 10 _ For the encoder Photoelectronicsensor Used to synchronize tracking For the Photoelectronic sensor and Vision sensor Encoder distribution unit The Encoder distribution unit is required when two or more robot controllers are connected to the one encoder Provide this unit as necessary 2F YZ581 1 If the Encoder distribution unit is used a 5V power source for the encoder is not necessary Refer to the Encoder Distribution Unit Manual BFP A3300 for details 7 32 Components 7 System Configuration Name of devices to be provided by customers Vision sensor part Basic network vision 4D 2CG5xxxx PK See the instruction manual of the network vision sensor set sensor for details In Sight 5000 series COGNEX Vision sensor In Sight Micro series Lighting installation Provide as necessary Connection part Hub Ethernet cable straight Between Robot controller and Hub Between Personal computer and Hub Model Quantity Remark
26. Parameter name Explanation Reference value Optimal Specify hand weight and so on to make settings that allow optimal 3 0 0 0 0 0 0 acceleration acceleration deceleration operations The setting values deceleration hand For example if the hand weighs 3 kg changing the weight setting are different for data value from 10 kg to 3 kg makes the robot movement faster each robot model HANDDAT1 Hand weight kg size mm X Y Z gravity mm X Y Z Use these values as reference only Optimal Specify workpiece weight and so on to make settings that allow 1 0 0 0 0 0 0 acceleration optimum acceleration deceleration operations The setting values deceleration If a workpiece is grabbed via the HClose instruction the are different for workpiece data acceleration deceleration becomes slower If a workpiece is each robot model WRKDAT1 released via the HOpen instruction acceleration deceleration Use these values becomes faster as reference only Workpiece weight kg size mm X Y Z gravity mm X Y Z 11 46 Dedicated Input Output Parameters 11 Parameter Setting 11 3 Tracking Parameter Setting Specify to which channel of a Encoder connector CNENC an encoder of a conveyer is connected Table 11 3 Tracking Parameter Setting lists the parameters to be set Other parameters are shown in Table 16 1 List of Tracking Parameters make settings as required Parameter Parameter name Table 11 3 Track
27. Tracking Parameter Setting Table 6 3 Tracking Parameter Setting lists the parameters to be set Other parameters are shown in Table 21 1 List of Tracking Parameters make settings as required 6 3 1 Robot Parameter Setting After the installation of Q173DPX module and connection with the encoder are complete use the following steps to establish robot CPU parameters 1 Using parameter ENCUNT CPU is installed 1 3 designate the slot in which Q173DPX module under the control of robot 2 Change the number of the incremental synchronization encoder being physically wired into a logic number using parameter EXTENC Table 6 3 Tracking Parameter Setting Parameter Parameter name Number of elements Explanation Value set at factory shipping Tracking mode TRMODE 1 integer Enable the tracking function Please set it to 1 when you use the tracking function 0 Disable 1 Enable first Q173DPX ENCUNIT1 The base unit number of the first Q173DPX unit element 1 that robot CPU manages and slot number element 2 are set Element 1 1 No connection O Basic base unit 1 7 Increase base unit Element 2 O 11 I O Slot number This parameter is valid in the following software versions CRnQ 700 series Ver R1 or later Second Q173DPX ENCUNIT2 The base unit number of the second Q173DPX unit element 1 that robot CPU manages and slot number ele
28. in CM1 program are not 0 If they are 0 change the difference from the theoretical value to an allowable value Program error Causes A return value cannot be created by the SSOWKPOS function of 1 program Actions 1 Check the reason why MY50STS of the SSOWKPOS function in 1 program does not change from 0 Error description Causes and actions 20 98 Occurrence of Error Numbers in the Range from 9000 to 9999 20 Troubleshooting 1 About the factor that the L9110 error occurs Positional variable PVTR in CM1 program is calculated based on the setting of the A1 C1 program The calculation result is a difference between the position of mark set with the vision sensor and the position taught by the C1 program And the L9110 error occurs when the difference exceeds the numerical value specified for positional variable PCHk Therefore there is a possibility that the L9110 error occurs in the following cases a The position taught by the C1 program shifts to mark specified with the vision sensor For instance when the vision sensor output the triangular top e sign was taught in the C1 program In this case the difference is recognized as a gap b There is a difference to the flange and each hand of the robot in the gap for the multi hand The calibration executed by using the B1 program the calibration treatment device is used It is inst
29. 000 0 000 Point6 0 000 0 000 Point 0 000 0 000 Point8 0 000 0 000 16 Input an arbitrary name to File name in the tool edit column of In Sight Explorer and click the export button And confirm the calibration file of the specified name was made in the vision sensor File Name Track ine Full Name Track ineGalb esha Export Export SA TrackingCalib cxd 17 Raise the robot With this operation encoder data is acquired Tasks 14 61 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 14 3 Confirmation after operation Check the value of M_100 using T B Enter the encoder number in the array element Confirm that the differences between the encoder values acquired on the vision sensor side and the encoder values acquired on the robot side are set in M_100 N CAUTION if precision is highly important use four workpieces instead of marking Stickers to specify 4 points at which they are grabbed When marking stickers are used a vision sensor calculates the robot position on a flat plane immediately above the conveyer If the workpiece height is large the robot coordinate values may deviate from the actual workpiece center displayed when the center of the workpiece is recognized For this reason it is recommended to calibrate the robot using workpieces in order to make sure that the robot calculates the coordinates correctly based on a flat plane
30. 2006 04 21 Al 5 COPYRIGHT MITSUBISHI ELECTRIC G HEERHHHHHEEE HHHH HHHH 7 1 Vision No 8 Work according to the comment directions in the robot program 9 Next 2 Encoder No Execute step feed to lt PROGRAM gt C1 5 COPYRIGHT MITSUBISHI ELECTRIC G HERHHHHHEH EEHEHE HEHEHEHEHE HHHH Jag Vision No 3 2 Encoder No 10 Repeat 7 8 and execute step feed to End 11 Press the F2 JUMP key and input the step number Press the EXE key Then returns to first step lt PROGRAM gt C1 STEP 1 lt PROGRAM gt C1 1 Ver Al He HHHH HEHHEHE 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH 12 Press the FUNCTION key and change the function display Press the F4 close key and close the program lt PROGRAM gt C1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al SOM ens 123 ELSZ ee Area recognized by a workpiece sensor Encoder data acquisition 2 Move the workpiece lt PROGRAM gt C1 1 Ver Al HHHH HHHH EAE 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al tie 123 3 Move the robot i Encoder data acquisition Read the current value Figure 15 1 Operation for Matching Workpiece Coordinates and Robot Coordinates 15 64
31. 294 295 HHH Suction of substrates HHAHE 296 S85CLOSE 297 HClose 1 Turn suction ON 298 Return 299 HHHHHH Suction release of substrates HAHHH 300 S86OPEN 301 HOpen 1 Turn suction OFF 302 Return 303 304 HHH Turning on the signal is waited for HHHH 305 MX80ENA ENABLE DISABLE of check 1 0 306 MX80SIG Check signal number 307 MX80SEC Check second number S 308 MY80SKP OK TIMEOUT 1 0 309 S80CWON 310 If MX80ENA 1 Then If the signal check is ENABLE 311 M_Timer 1 0 312 MY80SKP 0 313 MX80SEC MX80SEC 1000 Second gt Millisecond 314 L80LOP 315 If M_Timer 1 gt MX80SEC Or MY80SKP lt gt 0 Then L80END 316 If M_In MX80SIG 1 Then MY80SKP 1 If the signal specified is turned on 317 GoTo L80LOP 318 Else If the signal check is DISABLE 319 Dly MX80SEC Wait at the specified check time 320 MY80SKP 1 OK 321 Endlf 322 L80END 323 Return 324 325 HHH Turning off the signal is waited for HHt 326 MX81ENA ENABLE DISABLE of check 1 0 327 MX81SIG Check signal number 328 MX81SEC Check second number S 329 MY81SKP OK TIMEOUT 1 0 330 S81CWOFF 331 If MX81ENA 1 Then If the signal check is ENABLE 332 M_Timer 1 0 333 MY81SKP 0 334 MX81SEC MX81SEC 1000 Second gt Millisecond 335 L81LOP 336 If M_Timer 1 gt MX81SEC Or MY81SKP lt gt 0 Then L81END 337 If M_In MX81SIG 0 Then MY81SKP 1 If the signal specified is turned off 338 GoTo L
32. 5 Click the Detailed Setting button Intelligent Function Module Detailed Setting R TT e 1 Setting should be set as same when using multiple CPU Because the robot CPU manages the Q173DPX unit change the Control PLC of slot 5 to the PLC No 2 Robot CPU 6 Click the END button The Parameters are memorized into the sequencer CPU The following work is confirming the operation of the robot by the sample program Please confirm Part 4 Tracking Control 6 30 Tracking Parameter Setting 7 System Configuration Part 3 System Configuration and Setting CR750 D CR751 D series CRnD 700 series 7 System Configuration 7 1 Components 7 1 1 Robot controller enclosure products The product structure of the tracking functional relation enclosed by the robot controller is shown in the Table 2 1 Table 7 1 List of Configuration in the tracking functional related product Product name Model name Remark Tracking Function BFP A8664 This manual is included in instruction manual INSTRUCTION MANUAL CD ROM attached to the product Sample program Please refer to 12 Sample Robot Programs for the sample robot program 7 1 2 Devices Provided by Customers When configuring the system the customers must have certain other devices in addition to this product The table below shows the minimum list of required devices Note that different devices are required depending on w
33. Appendix 55 GoTo LBFCHK 56 Workpiece data acquisition 57 LREAD 58 TrRd PBPOS MBENC MBWK 1 MBENCNO Read data from the tracking buffer 59 GoSub S40DTSET Transportation data setting 60 Workpiece position confirmation 61 LNEXT 62 PXS50CUR TrWcur MBENCNO PBPOS MBENC Acquire the current workpiece position 63 MXS50ST PRNG X Start distance of the range where the robot can follow a workpiece 64 MX50ED PRNG Y End distance of the range where the robot can follow a workpiece 65 MXS50PAT PTN X Conveyer position pattern number 66 GoSub S50WKPOS Workpiece position confirmation processing 67 If MY50STS 3 Then GoTo LBFCHK Already passed Go to the next workpiece 68 If MY50STS 2 Then GoTo LTRST Operable start tracking 69 If MWAIT 1 Then GoTo LNEXT Wait for incoming workpieces 70 To standby position 71 PWAIT P1 Change to workpiece wait posture 72 Select PTN X Conveyer position pattern number 73 Case 1To2 When the conveyer is the front of the robot 74 PWAIT X PX50CUR X X coordinates of the robot are matched to workpiece 75 Case 3 To6 76 PWAIT Y PX50CUR Y Y coordinates of the robot are matched to workpiece 77 End Select 78 PWAIT Z PX50CUR Z PUP1 X 79 PWAIT C PX50CUR C 80 Mov PWAIT Move to workpiece wait posture PWAIT 81 MWAIT1 1 Set workpiece wait flag 82 GoTo LNEXT 83 Start tracking operation 84 LTRST 85 Accel PAC1 X PAC1
34. CR750 D series controller 10 40 Connection of Equipment 10 Connection of Equipment 10 2 2 Installation of encoder cable The installation method of the encoder cable is shown by controller to be used CR750 D series Figure 10 6 Installation of encoder cable CR750 D series CR751 D series Figure 10 7 Installation of encoder cable CR751 D series CR1D 700 series Figure 10 8Installation of encoder cable CR1D 700 series CR2D 700 series Figure 10 9Installation of encoder cable CR2D 700 series CR3D 700 series Figure 10 10Installation of encoder cable CR3D 700 series And the description about the measures against the noise is shown in the figure Figure 10 11 Example of noise measures of tracking system 1 CR750 D series lt CR750 D series controller rear gt o oO o CNUSR11 connector CNUSR12 connector CNUSR13 connector kj o Within 300mm Ferrite core attachment Pass twice Encoder cable Figure 10 6 Installation of encoder cable CR750 D series Connection of Equipment 10 41 10 Connection of Equipment 2 CR751 D series lt CR750 D series controller front ci HT
35. Constants O O O Error 4220 Error 4220 Error 4220 Variable o Available Reference Program O Not available syntax error at input time 1 MENC1 M_EncL 1 2 MENC2 M_EncL M1 3 TrWrt P1 MEncL 1 MK 4 M_EncL 1 0 Explanation O O O member data O member data Error 4220 At logic encoder number 1 assign encoder data stored at the time of receipt of a TREN signal to the variable MENC1 At a logic encoder number specified in the variable M1 assign encoder data stored at the time of receipt of a TREN signal to the variable MENC2 Write work position data P1 encoder value M_EncL 1 present at the time of receipt of a TREN signal and work category number MK onto the buffer 1 for tracking Use latched data to clear the encoder to zero as it is not required until next latched data is used e Stored encoder value corresponding to the encoder number being specified in lt logical encoder number gt is acquired Encoder value is stored in memory at a low to high or high to low transition of TREN signal which has been specified with a DIP switch on Q17EDPX module Encoder value thus acquired is written onto the buffer for tracking by using a TrWr command so as to perform tracking operations MELFA BASIC V Instructions 19 95 19 Maintenance of robot program e As encoder value is in double precision real number specify lt numerical variable gt with
36. INIT 07 05 30 20 21 30 07 05 30 20 21 30 6 Press the arrow key combine the cursor with the program name C1 and press the EXE key Display the lt program edit gt screen 1 20Rem 07 05 30 20 21 30 1 Ver Al HHHH HHHH 07 05 30 20 21 30 2 tracking robot conveyor calibra 07 05 30 20 21 30 3 NAME Cl prg 07 05 30 20 21 30 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH Program for Vision Tracking 15 67 15 Workpiece Recognition and Teaching C1 program 7 Press the FUNCTION key and change the function display lt PROGRAM gt C1 1 Ver Al He H HHHH HHEH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH lt PROGRAM gt C1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al 8 Press the F1 FWD key and execute step feed 1 Vision No is displayed KPROGRAM gt C1 4 Create version 2006 04 21 Al 5 COPYRIGHT MITSUBISHI ELECTRIC G HEERHHHHHEE EHEHEHEH EHH HHHH 7 1 Vision No 9 Work according to the comment directions in the robot program 10 Next 2 Encoder No Execute step feed to lt PROGRAM gt C1 5 COPYRIGHT MITSUBISHI ELECTRIC G HRRHHHHHEH EHH HEHEHEHEHE HHHH 7 Vision No 3 2 Encoder No 11 Repeat 7 8 and execute step fee
37. If M_Timer 1 gt MX81SEC Or MY81SKP lt gt 0 Then L81END 275 If M_In MX81SIG 0 Then MY81SKP 1 276 GoTo L81LOP 277 Else 278 Dly MX80SEC 279 MY81SKP 1 OK 280 Endlf 281 L81END 282 Return If the signal specified is turned off If the signal check is DISABLE Wait at the specified check time PWK 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PRI 1 00 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 P1 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PBPOS 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PX50CUR 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PRNG 300 00 200 00 400 00 0 00 0 00 0 00 0 00 0 00 0 0 PTN 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 Sample Programs 21 131 21 Appendix PWAIT 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PUP1 50 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC 1 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 PTBASE 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PGT 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC2 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PHND 0 00 900 00 900 00 0 00 0 00 0 00 0 00 0 00 0 0 PDLY1 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC3 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PAC11 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PPT 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0
38. Instructions na tian danieh tities TE 19 87 19 1 2 List of Robot Status Variables or AEE ee eeteee ee eaeeeeeeaeeeeeeaeeeeesaeeeseeneeeeeeaes 19 87 194 3 CHBrO FUNCIONS 2 2 ceccah techs endertaned eda ica ete ee tiated eanie 19 88 19 1 4 Explanation of Tracking Operation Instructions cccccceeeesecceeceeeseeeneaeceeeeeseseenteaeeeeees 19 88 19 2 Timing Diagram of Dedicated Input Output Signals 0 0 0 0 ceeeeeeeeeeeeeeeeeeeeeeeaeeeeeenaeeeeseaes 19 97 19 2 1 Robot Program Start Processors corie aaa EE era EREEREER AEAEE TEEDE EREEREER 19 97 20 Troubleshooting 2 ieee ented E ae E E A 20 98 20 1 Occurrence of Error Numbers in the Range from 9000 to 9999 0 0 eceeeeeeeeeeeetteeeteeaees 20 98 20 2 Occurrence of Other Errors 1 03283 ete ela he etna EAER 20 100 20 3 In such a case improvement CxAMPIle cc cece ee eeteee ee eete eee etteeeeetnieeeee tees etiieeeeetneeeeeeaa 20 102 20 371 The adsorption position SHINS 4 tat ae teh teh ate r aa e ra N E aa ETa 20 102 20 3 2 Make adsorption and release of the work speedy sssssssssssssssrnnrenssrertrrnnsnnsrtnnrnnnnneene nnn 20 105 20 3 3 Make movement of the robot speedy asssessssiessrresisrrenrrrussernsdntinuesttnnadtrnnddennnnatanaeetennaane 20 105 20 3 4 The robot is too speedy and drops the work 2 ccccceceeeeeeeeeeeceeeeeeeteceeaeeeseeeeeeeeneaeees 20 105 20 3 5 Restore backup data to another Controller ecccccc
39. L1 PX10PS2 L1 PX10PS1 L1 M10ED 46 PY10ENC L2 PX10PS2 L2 PX10PS1 L2 M10ED 47 Return 48 49 This program computes how much a robot moves per 1 pulse and stores the result in P_LENCDLT PE 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PX10PS1 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PX10PS2 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PY10ENC 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 Sample Programs 21 125 21 Appendix 2 C1 Prg 1 4H Ver A3 PARR HHH H H H HHRHH 2 Conveyer tracking workpiece suction position registration program 3 Program type C1 prg 4 Date of creation version 2012 07 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION 6 FARRAR HEA 7 1 Register a model number in the X coordinate of the PRM1 variable 8 2 Register an encoder number in the Y coordinate of the PRM1 variable 9 3 Register the number of the sensor that monitors workpieces in the Z coordinate of the PRM1 variable 10 Check the conditions set in the PRM1 variable 11 MWKMAX 10 The maximum model number value for checking 12 MECMAX 8 The maximum encoder number value for checking 13 MWKNO PRM1 X Acquire a model number 14 MENCNO PRM1 Y Acquire an encoder number 15 If MWKNO lt 1 Or MWKNO gt MWKMAX Then Error 9102 Model number out of range 16 If MENCNO lt 1 Or MENCNO gt MECMAX Then Error 9101 Encoder number out of range 17 For M1
40. P1 and encoder value at that time is M1 4 Cnt 0 5 Mov PO 20 lt Please specify 20 for RV robot though RH SCARA robot is 20 6 Mvs PO 7 Mvs PA 8 Mvs PB 9 Mvs PC 10 Mvs PC 20 Please specify 20 for RV robot though RH SCARA robot is 20 11 Trk Off End the tracking operation In such a case improvement example 20 107 21 Appendix 21 Appendix This appendix provides a list of parameters related to tracking and describes Expansion serial interface connector pin assignment as well as sample programs for conveyer tracking and vision tracking 21 1 List of Parameters Related to Tracking Table 21 1 List of Parameters Related to Tracking Parameter Number Setting value Parameter of Description at factory name i elements shipment Tracking buffer TRBUF 2 integers Number of tracking buffers and their sizes KB 2 64 lt Buffer number gt Specify the number of buffers where the tracking data is stored Mainly the tracking data for each conveyors is saved at the buffer Change the set value when the conveyor for tracking is increased However if the value is enlarged the memory area where the tracking data is saved will be secured Be careful because the program number which can be saved decreases Setting range 1 to 8 lt Buffer size gt Specify the size in which the tracking data is preserved Change this element when there is larger tracking data saved by TrWrt command than reading by TrRd
41. PE X lt 1 Or PE X gt MECMAX Then Er MENCNO PE X 12 2 Vision sensor 10 Repeat 7 8 and execute step feed to End 11 Press the F2 JUMP key and input the step number Press the EXE key Then returns to first step lt PROGRAM gt B1 STEP 1 lt PROGRAM gt B1 1 H Ver Al He HHRHH HEHHEHE 2 tracking robot conveyor calibra 3 NAME Bl prg 4 Create version 2006 04 21 Al EDIT Danaa 123 INSERT TEACH 12 Press the FUNCTION key and change the function display Press the F4 close key and close the program lt PROGRAM gt B1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME Bl prg 4 Create version 2006 04 21 Al SOM eR 123 ELSZ ee Area recognized by a workpiece sensor Encoder data acquisition lt PROGRAM gt B1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME Bl prg 4 Create version 2006 04 21 Al tie 123 5 Z axis elevation A Robot movement 1 5 in the figure shows the details of operations in the sample program Figure 14 1 Vision Sensor and Robot Calibration Operation Procedure Diagram 14 56 Operation procedure 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 14 2 Tasks 1 Set the encoder number to the X coordinates value of position variable PE a Press the function key F2 corresponding to the change and display the
42. PTBASE P_100 PWK X 120 TrBase PTBASE MBENCNO 121 PGT PTBASE POFSET 122 GoSub S46ACSET 123 Return 124 125 Interrupt definition processing 1 126 S46ACSET 127 Select PTN X 128 Case 1 Front right gt left 129 MSTP1 PRNG Z 130 Def Act 1 P_Fbc 1 Y gt MSTP1 GoTo S91STOP 131 Break 132 Case 2 Front left gt right 133 MSTP1 PRNG Z 134 Def Act 1 P_Fbc 1 Y lt MSTP1 GoTo S91STOP 135 Break 136 Case 3 Left side rear gt front 137 Case 5 Right side rear gt front 138 MSTP1 PRNG Z 139 Def Act 1 P_Fbc 1 X gt MSTP1 GoTo S91STOP 140 Break 141 Case 4 Left side front gt rear 142 Case 6 Right side front gt rear 143 MSTP1 PRNG Z 144 Def Act 1 P_Fbc 1 X lt MSTP1 GoTo S91STOP 145 Break 146 End Select 147 Return 148 149 Workpiece position confirmation processing Create reference position Tracking base setting Suction position setting Interrupt definition Conveyer position pattern number Following stop distance To S91STOP if followed far long 150 PX50CUR Current workpiece position 151 MXSOST Tracking start range 152 MXS0ED Tracking end range 153 MX50PAT Conveyer position pattern number 154 MYSOSTS Result 1 Wait 2 Start tracking 3 Next workpiece 155 SSOWKPOS 156 MY50STS 0 Clear return value 157 Select MXSOPAT Conveyer pattern 158 Case 1 Front right gt left 159 MS50STT MX50ST The start side has a negative
43. Y 86 Cnt 1 0 0 87 Act1 1 Monitor the robot following workpieces too far 88 Trk On PBPOS MBENC PTBASE MBENCNO Tracking operation start setting 89 Mov PGT PUP1 Y Type 0 0 Move to tracking midair position 90 Accel PAC2 X PAC2 Y 91 Mov PGT Type 0 0 Move to a suction position 92 GoSub S85CLOSE Turn suction ON 93 MX80ENA PHND X Check instruction 94 MX80SIG PHND Y Check signal number 95 MX80SEC PDLY1 X Check second number s 96 GoSub S80CWON adsorbtion confirmation 97 Cnt1 98 Accel PAC3 X PAC3 Y 99 Mov PGT PUP1 Z Type 0 0 Move to tracking midair position 100 Trk Off Tracking operation end setting 101 Act 1 0 102 Accel 100 100 103 MWAIT 0 104 Return 105 106 Workpiece placing processing 107 S30WKPUT 108 Accel PAC11 X PAC11 Y 109 Mov PPT PUP2 Y Move to over the placement position 110 Accel PAC12 X PAC12 Y 111 Cnt 1 0 0 112 Mov PPT Type 0 0 Move to the placement position 113 GoSub S86O0PEN Turn suction OFF 114 MX81ENA PHND X Check instruction 115 MX81SIG PHND Z Check signal number 21 140 Sample Programs 21 Appendix 116 MX81SEC PDLY2 X Check second number s 117 GoSub S81CWOFF Release confirmation 118 Cnt1 119 Accel PAC13 X PAC13 Y 120 Mov PPT PUP2 Z Type 0 0 Move to over the placement position 121 Accel 100 100 122 Return 123 124 Transportation data setting processing 125 S40DTSET 126 PTBASE P_100 PWK X Create reference po
44. Z And PTRED X lt P3HR Z Then MYSOSTS 3 _ It is NG if passing over the singular point 256 Endlf 257 The processing to singular point of _RH 3S HR 258 Else If tracking not possible 259 If PXSOCUR X gt 0 Then MYSOSTS 1 Wait 260 If PXS5OCUR X lt 0 Then MY50STS 3 Move onto the next workpiece 261 If PosCq PX50CUR 0 And PXS50CUR X lt M50STT And PXS50CUR X gt M50END_ Then MYS50STS 3 Outside the movement range 262 Endlf 263 Break 264 End Select 265 PS5O0TRST PTRST The processing to singular point of RH 3S HR 266 P50TRED PTRED The processing to singular point of RH 3S HR 267 If MYS5OSTS 0 Then Error 9199 Program modification required 268 Return 269 270 Origin return processing 271 S9OHOME 272 Servo On Servo ON 273 P9OCURR P_Fbc 1 Acquire the current position 274 If PPOCURR Z lt P1 Z Then If the current height is below the origin 275 Ovrd 10 276 P9D0ESC P90CURR Create an escape position 277 P90ESC Z P1 Z 278 Mvs P9OESC Move to the escape position 279 Ovrd 100 280 Endlif 281 MovP 1 Move to the origin 282 Return Sample Programs 21 143 21 Appendix 283 284 Tracking interruption processing 285 S91STOP 286 Act 1 0 287 Trk Off 288 GoSub S86OPEN Release suction 289 P91P P_Fbc 1 Acquire the current position 290 P91P Z P1 Z 291 Mvs P91P Type 0 0 Raise 292 MovP 1 Return to the origin once 293 GoTo LBFCHK
45. a variable which is of double precision real number type e You can omit the step to specify lt logic encoder number gt When it is omitted logic encoder number will be treated as 1 e Number which you can enter to specify lt logic encoder number gt is an integer in the range of 1 to 8 Entering anything else causes L3110 Out of range Argument error to occur If a number having a decimal part is entered the fraction of 0 5 or over will be counted as one and the rest will be cut away e As latched encoder data represents a value present at a low to high or high to low transition of TREN signal you should check input corresponding to input number in 810 to 817 range which has been assigned to TREN signal when reading it out e You can clear the encoder to zero by typing 0 after having used latched encoder data This step may be performed as a precaution against using previously latched data 19 96 MELFA BASIC V Instructions 19 Maintenance of robot program 19 2 Timing Diagram of Dedicated Input Output Signals 19 2 1 Robot Program Start Processing The signal timing when a robot program is started from an external device is shown below PLC Robot O Turning servo ON ere ad O SRVON H gt Servo ON FO EN SRVON L Pa Program selectable on amp aig SLOTINIT L og Program reset ee ie SLOT
46. adjustment variables prepared in the program 16 1 Teaching The teaching of Starting point position position in which it is waited that workpiece arrives and Transportation destination position in which the held workpiece is put is executed For instance the teaching does the following positions Vision sensor recognition area A _ N P1 Start Conveyer flow Teach the origin position and transportation destination The following explains how to perform these operations 1 Open 1 program using T B 2 Open the Position data Edit screen 3 Display P1 in order to set the robot origin position when the system is started 4 Move the robot to the origin position and teach it the position 5 Display PPT in order to set the transportation destination position the location where workpieces are placed 6 Move the robot to the transportation destination and teach it the position Confirm whether workpiece can be transported at the position in which the teaching was done 7 Display P1 at the starting point position on the Position data Edit screen Turn on the servo by gripping the deadman switch 8 Move the robot to the position of P1 pushing F1 MOVE lt POS gt JNT 100 P1 i A ooon 00 f 90 00 Z 00 150 00 LT 0000 00 _12 0000 00 FL1 00000007 FL2 00000000 9 Move the robot to an arbitrary position position in which workpiece flows by the jog operation
47. and operates while following the conveyer operation until Trk Off is executed Format Trk O On lt Measurement position data gt lt Encoder data gt lt Reference position data gt lt Encoder logic number gt Trk O Off Term lt Measurement position data gt can be omitted Specify the workpiece position measured by a sensor lt Encoder data gt can be omitted Specify a value of an encoder installed on a conveyer when a workpiece is measured lt Reference position data gt can be omitted Specify the origin position of position data to be followed during the tracking mode If this argument is omitted the robot follows the conveyer using the position specified by the TrBase instruction as the origin The initial value is PZERO lt Encoder logic number gt can be omitted This is a logic number indicating the external encoder that performs tracking operation 1 is set when this argument is omitted Setting range 1 to 8 Example 1 TrBase PO Specify the workpiece coordinate origin at the teaching position 2 TrRd P1 M1 MKIND Read the workpiece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose position measured by a sensor is P1 and encoder value at that time is M1 4 Mvs P2 Setting the current position of P1 as P1c make the robot operate while following workpieces with the target position of P1c P_Zero PO P2 P2 indicates the workpiece grabbing posi
48. can be made speedy by the following methods 1 Adjust adsorption time and release time Adjust the adjustment variable PDLY1 and the value of X coordinates of PDLY2 of the program 1 Refer to Table 16 1 List of Adjustment Variables in Programs for the adjustment method 20 3 3 Make movement of the robot speedy Adjust the following setting to make movement of the robot speedy 1 Adjust the acceleration and the deceleration time for the tracking by using the parameter Acceleration and the deceleration of the follow operation can be done fast by reducing the value of each element of parameter TRPACL and TRPDCL example For the robot of the RH type X Y Z A B C 0 2 0 2 1 0 1 0 1 0 1 0 X and Y are changed For the robot of the RV type X Y Z A B C 0 2 0 2 0 2 1 0 1 0 1 0 X Y and Z are changed 2 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 11 2 List of Operation Parameter for setting method 3 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 o
49. command Be careful because the memory is secured like the above mentioned Buffer number Setting range 1 to 200 Minimum external ENCRGMN 8 integers The minimum external encoder data value pulse 0 0 0 0 0 0 0 0 encoder value The range of the encoder value which can be acquired in state variable M_Enc minimum value side Maximum ENCRGMX 8 integers The maximum external encoder data value pulse 100000000 external encoder 100000000 value The range of the encoder value which can be 100000000 100000000 100000000 100000000 100000000 100000000 Tracking buffer 2 integers Number of tracking buffers and their sizes KB 4 64 lt Buffer number gt Specify the number of buffers where the tracking data is stored Setting range 1 to 8 lt Buffer size gt Specify the size in which the tracking data is preserved Setting range 1 to 64 acquired in state variable M_Enc maximum value side 21 108 List of Parameters Related to Tracking Parameter Parameter name elements Description 21 Appendix Setting value at factory shipment Tracking adjustment coefficient 1 TRADJ1 8 real numbers X Y Z A B C L1 L2 Tracking adjustment coefficient 1 Set the amount of delay converted to the conveyer speed Convert to 100 mm s Example e If the delay is 2 mm when the conveyer speed is 50 mm s Setting value 4 0 2 50 100 e If the advance
50. confirmation 5 Stop the conveyer Start the 1 program and start the conveyer in the speed that you want Flow workpiece Stop the conveyer because it keeps following during the 10 second in the place where the robot moved to the adsorption position And stop 1 program 5 Confirm the position in which the robot adsorbs workpiece AUN lt The position shifts in shape to adsorb the rear side of work gt Please adjust lt delay time of NvTrg command used because of the CM1 program gt Please adjust the encoder value specified by the TrWrt command as lt delay time gt 0 when the adjustment by lt delay time of NvTrg command gt is difficult For instance the CM1 program is changed as follows and the numerical value for instance following 500 is adjusted MENCDATA MTR1 500 TrWrt PRW MENCDATA MWKNO 1 MENCNO confirmation 6 1 Change parameter TRADJ1 and adjust a positional gap confirmation 7 1 Change parameter TRPACL and TRPDCL to make the follow speed of the tracking fast Note it though the load factor of each axis of the robot goes up Confirm the state of the load of each axis by Load factor monitor of RT ToolBox2 20 104 In such a case improvement example 20 Troubleshooting 20 3 2 Make adsorption and release of the work speedy In the tracking system adsorption confirmation of the work may be unnecessary In that case processing of adsorption and release
51. corresponding position in the robot coordinate system This calibration operation is easily performed by the Mitsubishi robot tool in In Sight Explorer Refer to Mitsubishi robot tool manual for EasyBuilder for the details of this function B1 program performs specified tasks and allows acquiring the workpiece coordinates recognized by the vision sensor in the robot coordinate system position coordinates of robot movement The procedures of operations specified by B1 program and items to be confirmed after the operations are explained below This chapter explains on the assumption that Mitsubishi robot tool is used Please refer to Detailed Explanations of Functions and Operations for the steps involved in each operation 14 1 Operation procedure 1 To communicate the Mitsubishi robot tool and the vision sensor set a necessary parameter by using RT ToolBox2 A necessary parameter is three NETIP Element 9 of NETTERM and CTERME19 In RT ToolBox2 select Online parameter parameter list Input the following parameters to Parameter Name of the displayed Parameter list screen and change a Setting value Parameter Name Initial value Setting value Explanation NETIP Q type 192 168 100 1 xxx xxx xxx xxx IP address of robot controller D type 192 168 0 20 NETTERM Element 9 0 1 The end code is added with communication CTERME19 0 1 The end code of port 100
52. immediately above the workpieces Vision sensor The vision sensor judges this position as the workpiece center Flat plane immediately above conveyer Recognition error 14 62 Confirmation after operation 15 Workpiece Recognition and Teaching C1 program 15 Workpiece Recognition and Teaching C1 program This chapter explains the tasks carried out by using C1 program C1 program contains operations required for both conveyer tracking and vision tracking but different operations are performed Refers to 15 1Program for Conveyer Tracking for operations in the case of conveyer tracking and 15 2Program for Vision Tracking for operations in the case of vision tracking Please refer to Detailed Explanations of Functions and Operations for the steps involved in each operation 15 1 Program for Conveyer Tracking In C1 program for conveyer tracking encoder data at the positions where a sensor is activated and where the robot suctions a workpiece is acquired so that the robot can recognize the workpiece coordinates when the sensor is activated at later times The operation procedure and items to be confirmed after operation in C1 program for conveyer tracking are explained below 1 Operation procedure 1 Open C1 program using T B 2 Set the controller mode to MANUAL Set the T B to ENABLE O P Up DISABLE T B E oa Down ENABLE p Lamp lighting
53. is able to suction the workpiece 11 With this operation encoder data and robot position are acquired Perform step operation until End With this operation the robot becomes able to recognize the position of the workpiece recognized by the vision sensor x 3 Confirmation after operation Check the values of the following variables using T B Enter the model number for the array number Value of M_101 Differences between encoder values when a workpiece is within the vision sensor area and when the workpiece is on the robot side Value of P_102 Data in the variable PRM1 model number encoder number Value of P_103 Data in the variable PRM2 recognition field of image view workpiece size Value of C_100 COM number Value of C_101 Vision program name Confirm that each of the above values is entered 15 76 Program for Vision Tracking 16 Teaching and Setting of Adjustment Variables 1 Program 16 Teaching and Setting of Adjustment Variables 1 Program This chapter explains operations required to run 1 program 4 program settings are required for both conveyer tracking and vision tracking 1 program instructs the robot to follow and grab workpieces recognized by a photoelectronic sensor or vision sensor and transport the workpieces The teaching positions required by 1 program are explained below along with how to set
54. robot conveyor calibra 3 NAME Al prg 3 NAME Al prg 4 Create version 2006 04 21 Al 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH 7 is displayed KPROGRAM gt A1 4 Create version 2006 04 21 Al 5 COPYRIGHT MITSUBISHI ELECTRIC G HEERHHHHHEEHE EHHE HEHEHEHEH HHHH 7 1 Encoder No 8 Work according to the comment directions in the robot program 9 Next 2 On conveyor both Execute step feed to lt PROGRAM gt A1 MECMAX 8 If PE X lt 1 Or PE X gt MECMAX Then Er MENCNO PE X 12 2 0n conveyor both 10 Repeat 7 8 and execute step feed to End 11 Press the F2 JUMP key and input the step number Press the EXE key Then returns to first step KPROGRAM gt A1 lt PROGRAM gt Al 1 7H Ver Al HAHAHAHAHAHA AHHH STEP 1 2 tracking robot conveyor calibra 3 NAME Al prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH 12 Press the FUNCTION key and change the function display Press the F4 close key and close the program lt PROGRAM gt A1 lt PROGRAM gt A1 1 Ver A1 HAHEI RE IE EEE 17 Ver A1 RR TT 2 tracking robot conveyor calibra 2 tracking robot conveyor calibra 3 NAME Al prg 3 NAME Al prg 4 Create version 2006 04 21 Al 4 Create version 2006 04 21 Al SURE Ras 123 ELSU ee Hite 123 Area recognized by a workpiece sensor 1 Attach a sticker
55. shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces Robot Controller Encoder a Detected the speed f of the conveyor 8 hoe Workpieces KON flow direction Robot movement range Workpieces Camera for vision sensors Recognized the work of the position and inclination Figure 7 3 Configuration Example of Vision Tracking Top View Ethernet cable 7 3 n nay Ethernet cable Controller 24V power supply 4 F Example of CR2D controller d i i Ed p cae ma It is the same by other controller ting Flow direction gt pate a supply E P Encoder cable Figure 7 4 Configuration Example of Vision Tracking Example of System Configuration 7 35 8 Specification 8 Specification 8 1 Tracking Specifications and Restriction matter Table 3 1 CR750 Q CR751 Q Series CRnQ 700 Series Controller Tracking Function Specifications shows the tracking specifications Please refer to Standard Specifications Manual for the specifications of the robot arm and controller to be used Table 8 1 CR750 D CR751 D Series CRnD 700 Series Tracking Function Specifications Item Specification and Restriction matter Supported robots 6 RH SDH series RV SD series RH FH D series RV F D series Applicable robot controller CR1D CR2D CR3D contoller
56. suction Acquire the current position Raise 21 Appendix 230 MovP 1 231 GoTo LBFCHK 232 233 HHHH Suction of substrates HHHH 234 S85CLOSE 235 HClose 1 236 Return 237 HHHH Suction release of substrates t 238 S86 OPEN 239 HOpen 1 240 Return 241 242 HHH H Turning on the signal is waited for HHHH 243 MX80ENA ENABLE DISABLE of check 1 0 244 MX80SIG Check signal number 245 MX80SEC Check second number S 246 MY80SKP OK TIMEOUT 1 0 247 S80C WON 248 If MX80ENA 1 Then 249 M_Timer 1 0 250 MY80SKP 0 251 MX80SEC MX80SEC 1000 252 L80LOP Return to the origin once Turn suction ON Turn suction OFF If the signal check is ENABLE Second gt Millisecond 253 If M_Timer 1 gt MX80SEC Or MY80SKP lt gt 0 Then L80END 254 If M_In MX80SIG 1 Then MY80SKP 1 255 GoTo L80LOP 256 Else 257 Dly MX80SEC 258 MY80SKP 1 259 Endlif 260 L80END 261 Return 262 263 HHHH Turning off the signal is waited for HHt 264 MX81ENA ENABLE DISABLE of check 1 0 265 MX81SIG Check signal number 266 MX81SEC Check second number S 267 MY81SKP OK TIMEOUT 1 0 268 S81CWOFF 269 If MX81ENA 1 Then 270 M_Timer 1 0 271 MY81SKP 0 272 MX81SEC MX81SEC 1000 273 L81LOP If the signal specified is turned on If the signal check is DISABLE Wait at the specified check time OK If the signal check is ENABLE Second gt Millisecond 274
57. the Trk Off command before executing HIt command MELFA BASIC V Instructions 19 91 19 Maintenance of robot program TrOut reading tracking output signal and encoder value Function Read a tracking output value specified by a general purpose output and read the value of an external encoder synchronously with the output Format TrOut O lt Output number gt lt Encoder 1 value read variable gt lt Encoder 2 value read variable gt lt Encoder 3 value read variable gt lt Encoder 4 value read variable gt lt Encoder 5 value read variable gt lt Encoder 6 value read variable gt lt Encoder 7 value read variable gt lt Encoder 8 value read variable gt J I Term lt Output number gt cannot be omitted Specify the number of a general purpose output to be output lt Encoder n value read variable gt can be omitted Specify a double precision value variable in which read values of an external encoder are stored Note n is a value in the range from 1 to 8 Example 1 LOOP 1 2 If M_In 10 lt gt 1 GoTo LOOP1 Check whether a photoelectronic sensor is activated 3 TrOut 20 M1 M2 Output from general purpose output No 20 and store the value of external encoder No 1 in M1 and store the value of external encoder No 2 in M2 synchronously with the output 4 LOOP2 5 If M_In 21 lt gt 1 GoTo LOOP2 Wait until the signal general purpose input No 21 which sho
58. value 160 M50END MX50ED 161 If PosCq PXSOCUR 1 And PXSOCUR Y gt M50STT And PXSOCUR Y lt MS50END Then 162 MY50STS 2 Tracking possible 163 Else If tracking not possible 164 If PXSOCUR Y lt 0 Then MYSOSTS 1 Wait 165 If PXSOCUR Y gt M50END Then MY50STS 3 Move onto the next workpiece 166 If PosCq PXSOCUR 0 And PXS5OCUR Y gt MS50STT And PXSOCUR Y lt MS50END Then MY50STS 3 Outside the movement range 167 Endlf 168 Break 169 Case 2 Front left gt right 170 M50STT MX50ST 171 MS50END MXS50ED 172 The end side has a negative value If PosCq PX50CUR 1 And PXS5OCUR Y lt M50STT And PXSOCUR Y gt M50END Then Sample Programs 21 129 21 Appendix 173 MY50STS 2 174 Else If tracking not possible Tracking possible 175 If PXSOCUR Y gt 0 Then MY50STS 1 Wait 176 If PXSOCUR Y lt 0 Then MY50STS 3 Move onto the next workpiece 177 If PosCq PX50CUR 0 And PXS50CUR Y lt M50STT And PX50CUR Y gt M50END Then MY50STS 3 Outside the movement range 178 Endlf 179 Break 180 Case 3 Left side rear gt front 181 Case 5 Right side rear gt front 182 M50STT MX50ST 183 M50END MX50ED The start side has a negative value 184 If PosCq PXSOCUR 1 And PXS50CUR X gt MS50STT And PXSOCUR X lt M50END Then 185 MYS50STS 2 Tracking possible 186 Else If tracking not possible 187 If PXSOCUR X lt 0 Then MYSOSTS 1 Wait 188 If PXS5OCUR X gt 0 Then MY50STS 3 Move onto the next workpiece
59. 0 L1 0000 00 A 0000 00 B 0000 00 L2 FL1 00000007 FL2 00000000 d Press the function key F2 corresponding to the change and display the command edit screen lt POS gt JNT 100 PE X 0001 00 Y 0000 00 Z 0000 00 L1 0000 00 FL1 00000007 FL2 00000000 Clie 123 DELETE NAME lt PROGRAM gt A1 B 0000 00 0 00 3 NAME Al prg ion 2006 04 21 Al C 000 L2 0000 00 4 Create version 123 KELN ROLM A 0000 00 1 Ver Al HHHH HHHH HEHEHEHEHE 2 tracking robot conveyor calibra Tasks 13 51 13 Calibration of Conveyer and Robot Coordinate Systems A1 program 2 Attach a marking sticker on the conveyer a sticker with an X mark is the best choice for the marking sticker Drive the conveyer and stop it when the marking sticker comes within the robot movement range Robot Pr Bry Io Vy yy 4 A Robot movement of range P W d R ee a di ere A np a ae _ _ X PA y lt gt Conveyer flow Pia of a ee a Marking sticker Figure 13 2 Position of Marking Sticker on Conveyer 3 Move the robot to the position right at the center of the marking sticker on the conveyer With this operation encoder data and robot position are acquired N CAUTION Move the robot to an accurate position Be sure to move the robot to the position exactly at the center of the marking sticker beca
60. 0 There is no area Causes where data is written The data of the size or more of the buffer in which the TrWrt command was continuously set to the second argument of parameter TRBUF was written Actions 1 Check the execution count of the TrWrt command is correct 2 Check the value of the second argument of parameter TRBUF is correct 3 Check that the X and Y coordinates of the position variable PCHK in CM1 program are not 0 If they are 0 change the difference from the theoretical value to an allowable value L2540 There is no read data Causes The TrRd command was executed in state the data is not written in tracking buffer Actions 1 Execute the TrRd command after confirming whether the buffer has the data with the state variable M_Trbfct 2 Confirm whether the buffer number specified by the buffer number specified in TrWrt Mende and the TrRd command is in agreement L2560 Illegal parameter of Causes Tracking The value set as the parameter EXTENC is outside the range The ranges are 1 8 Actions Please confirm the value set to Parameter EXTENC Please confirm whether the Q173DPX unit is installed in the slot specified for parameter ENCUNITn n 1 3 Please confirm whether slot 0 2 of a basic base is not specified by setting the parameter Please confirm whether the setting of Management CPU that exists in O unit and intelligent function unit details setting of the parameter of the sequ
61. 00 0 0 PVS 2 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PVS 3 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PVS 4 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PTEACH 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PVSWRK 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PRBORG 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PWKPOS 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 PVTR 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PCHK 100 00 100 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PSW 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 PRW 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 21 138 Sample Programs 21 Appendix 21 5 3 For RH 3S HR 1 1 Prg 1 HHH Ver A3 7HARA AHA AHA 2 Conveyer tracking robot operation program for RH 3SDHR 3 Program type 1 prg 4 Date of creation version 2012 07 31 A3 5 MITSUBISHI ELECTRIC CORPORATION BREA EERE EERE EE EEE EEE AEE EEE AEE PE TET 7 8 Main processing 9 SOOMAIN 10 GoSub S9OHOME Origin return processing 11 GoSub S10INIT Initialization processing 12 LOOP 13 GoSub S20TRGET Tracked workpiece takeout processing 14 GoSub S30WKPUT Workpiece placing processing 15 GoTo LOOP 16 End 17 18 HH Initialization processing 19 S10INIT 20 Speed related 21 Accel 100 100 Acceleration deceleration setting 22 Ovrd 100 Speed setti
62. 00 C 0000 00 lt POS gt JNT 100 PRMI X 0001 00 A 0000 00 L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 Example Input signal number is 8 Example Traking enable signal number is 810 f Press the function key F2 corresponding to the change and display the command edit screen lt POS gt JNT 100 PRM1 lt PROGRAM gt C1 30001 00 8 0000 00 dH Veer AL iia Z 0008 00 C 0000 00 ZF racking robot conveyor calibra L1 0000 00 _L2 0000 00 C1 prg FL1 00000007 FL2 00000000 4 Create version 2006 04 21 Al DELETE NAME EF CHANGE CLOSE He 123 Program for Conveyer Tracking 15 65 15 Workpiece Recognition and Teaching C1 program 2 Move a workpiece to the location where the sensor is activated With this operation encoder data is acquired 3 Drive the conveyer to move the workpiece within the robot movement range 4 Move the robot to the position where it suctions the workpiece With this operation encoder data and robot position are acquired 5 Perform step operation until End With this operation the robot is able to calculate the position of a workpiece as soon as the sensor is activated 3 Confirmation after operation Confirm the values of M_101 P_100 and P_102 using T B Enter encoder numbers in array elements e M_101 Differences between the encoder values acquired at the position of the photoelectronic sensor and the
63. 09 is changed to CR LF F Parameter list SNEEAES Online eco 2 mea View Parameter list Roboti v 1 RV4F Q All A ae __ _ _ Read Parameter Name Read Changed Parameter Explanation Attribute _ ACCMODE GRRE FRA 0 GEITE 1 E Robot AIRERR1 PPI RELS AFHES SIE RLS WINES Common AIRERR2 DH2EARELS AFHES V2 AEIS E75 Common AIRERR3 PABERELS AFNES SABERELS WINES Common AIRERR4 PAABAELS ASNES SAGE RELS WINES Common AIRERRS PPSBAELS AFHES J5 AELS Common ALIGNTYP P344 PIR O18 1 HRSA Robot ALWENA ALWAYS ETXA S SERVO S RESETA Skiti SS 0 1 Common ARCH1S P F1RAR Robot ARCHIT PF 1a Robot ud 4 m gt Please confirm whether the following parameters are initial values Parameter Name Initial value Explanation NETPORT Element 10 CPRCE19 10009 0 Port number allocated to device OPT19 The protocol used is Non procedure NETMODE Element 9 1 Opens as Server 14 54 Operation procedure 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program In RT ToolBox2 select Online parameter Ethernet setting OPT12 is selected COM2 that exists in Line and Device column on the displayed Ethernet setting screen Double click OPT12 that exists in Device List Check Change the parameter to connect Vision and Input IP address of the vision sensor to IP Addr
64. 1 Overview 1 5 System that can achieve With the tracking function of CR750 Q CR751 Q CRnQ 700 series CR750 D CR751 D CRnD 700 series the example of the system that can be achieved is shown as following List 1 2 Example of system that can be achieved by the tracking function No CR751 Q CR751 D Example of the system CRnQ 700 CRnD 700 HESR transportation When a robot places workpieces which taken out from the pallet to a conveyer it is tracking transportation It is also possible to hang workpieces on S character hook that moves the above of the robot A robot decorates processing the workpieces moving on a conveyer while tracking A robot attaches the parts assembling with the workpieces moving on a When a robot picks the workpieces moving on a conveyer A the tracking is done and a robot places the workpieces while tracking to marking on a type In case of multi CPU system it makes possible to add max 9 pcs conveyer while tracking conveyer B Q173DPX units 3 units per 1 CPU However in each CPU only the A robot has the vision sensor hand eye and it checks the workpieces moving on a conveyer inspection It also can check and push the button The tracking is done with an encoder of line driver differential motion output type EE two channels can be used at the 3rd set of Q173DPX units Note1 This system requires the Encoder distribution unit Please refer to the Encoder Distribution Unit wh
65. 1 To 10 Clear the information 18 P_100 M1 P_Zero A variable that stores workpiece positions 19 P_102 M1 P_Zero A variable that stores operation conditions 20 M_101 M1 0 A variable that stores encoder value differences 21 NextM1 22 4 Move a workpiece to the position where the photoelectronic sensor is activated 23 ME1 M_Enc MENCNO Acquire encoder data first time 24 5 Move a workpiece on the conveyer into the robot operation area 25 6 Move the robot to the suction position 26 ME2 M_Enc MENCNO Acquire encoder data second time 27 P_100 MWKNO P_Fbc 1 Acquire the workpiece suction position current position 28 7 Perform step operation until END 29 MED ME2 ME1 Calculate the difference of the encoder value 30 If MED gt 800000000 0 Then MED MED 1000000000 0 31 If MED lt 800000000 0 Then MED MED 1000000000 0 32 33 M_101 MWKNO MED Store the amount of encoder movement in a global variable 34 P_102 MWKNO X PRM1 Y Store encoder numbers in a global variable 35 P_102 MWKNO Y PRM1 Z Store the sensor number in a global variable 36 End 37 38 This program is the relation between the position at which the sensor is reacted and the position at which 39 the robot absorbs workpieces PRM1 1 00 1 00 810 00 0 00 0 00 0 00 0 00 0 00 21 126 Sample Programs 21 Appendix 3 1 Prg 1 HHH Ver A3 7HARR AHA AHR HAE 2 Conveyer trac
66. 189 If PosCq PXS5OCUR 0 And PXSOCUR X gt MS50STT And PX50CUR X lt M50END Then MYS50STS 3 Outside the movement range 190 Endlf 191 Break 192 Case 4 Left side front gt rear 193 Case 6 Right side front gt rear 194 M50STT MX50ST 195 M50END MX50ED The end side has a negative value 196 If PosCq PXSOCUR 1 And PXS50CUR X lt M50STT And PXSOCUR X gt M50END Then 197 MY50STS 2 Tracking possible 198 Else If tracking not possible 199 If PXSOCUR X gt 0 Then MY50STS 1 Wait 200 If PX50CUR X lt 0 Then MY50STS 3 Move onto the next workpiece 201 If PosCq PX50CUR 0 And PXSOCUR X lt M50STT And PX50CUR X gt M50END Then MYS50STS 3 Outside the movement range 202 Endlf 203 Break 204 End Select 205 If MY50STS 0 Then Error 9199 206 Return 207 208 Origin return processing 209 S9O0OHOME 210 Servo On 211 P9OCURR P_Fbc 1 212 If PS0CURR Z lt P1 Z Then 213 Ovrd 10 214 P90ESC P90CURR 215 P90ESC Z P1 Z 216 Mvs P9OESC 217 Ovrd 100 218 Endlf 219 MovP 1 220 Return 221 222 HH Tracking interruption processing 223 S91STOP 224 Act 1 0 225 Trk Off 226 GoSub S86OPEN 227 P91P P_Fbc 1 228 P91P Z P1 Z 229 Mvs P91P Type 0 0 21 130 Sample Programs Program modification required Servo ON Acquire the current position If the current height is below the origin Create an escape position Move to the escape position Move to the origin Release
67. 24 Return 25 HHH Position data writing processing HHHt 26 S20WRITE 27 If M_In MSNS 0 Then GoTo S20WRITE Wait for a workpiece to activate the photoelectronic sensor use the latch encoder data M_ENCL after confirmation with an input signal Note CR750 Q CR751 Q series CRnQ 700 series controller The command is deferent between iQ i Platform controller CR750 Q CR751 Q 28 MENC M_EncL MENCNO Encoder number i series CRnQ 700 series and stand alone i type controller CR750 D CR751 D series CR750 D CR751 D series CRnD 700 series controller CRnD 700 series i In the CR750 Q CR751 Q series 28 MENC M_Enc MENCNO Encoder number CRnQ 700 series series it is necessary to 29 TrWrt PWPOS MENC MWKNO 1 MENCNO Write data workpiece position and encoder value to the tracking buffer 30 L20WAIT 31 If M_In MSNS 1 Then GoTo L20WAIT 32 Return Sample Programs 21 133 21 Appendix 21 5 2 Vision Tracking 1 A1 Prg The same program as the conveyer tracking 2 B1 Prg 1 HHH Ver A3 HHRHH HHH HH HH H H H H HR HHHH HHRHH 2 Network vision tracking calibration between robot and vision sensor 3 Program type B1 prg 4 Date of creation 2012 07 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION O HARR EEE EEE EEE H HHHH 7 1 Register an encoder number to the X coordinate of the PE variable 8 Check the setting value 9 MECMAX 8 The maximum encoder
68. 6 67 HHHH VS recognition check processing 68 S40CHKS 69 LVSCMD 70 LWAIT 71 MEC M_Enc MENCNO 72 MEM MEC MEP Subtract the previous encoder pulse value from the current position of the encoder 73 If MEM gt 800000000 0 Then MEM MEM 1000000000 0 74 If MEM lt 800000000 0 Then MEM MEM 1000000000 0 75 If Abs MEM gt MEI GoTo LVSTRG Comparison between the amount of encoder movement and the camera startup setting value 76 Dly 0 01 77 GoTo LWAIT 78 LVSTRG 79 MEP MEC Set the encoder pulse current position to the previous value 80 NVTrg 1 5 MTR1 MTR2 MTR3 MTR4 MTR5 MTR6 MTR7 MTR8 Imaging request encoder value acquisition 81 Acquisition of recognition data 82 If M_NvOpen 1 lt gt 1 Then Error 9100 Communication error 83 EBRead 1 MNUM PVS 1 PVS 2 PVS 3 PVS 4 Imaging request 84 If MNUM 0 Then GoTo LVSCMD If no workpieces are recognized 85 If MNUM gt 4 Then MNUM 4 Set the maximum number 4 86 For M1 1 To MNUM Repeat for the number of workpieces recognized 87 MX M1 PVS M1 X Data acquisition 88 MY M1 PVS M1 Y 89 MT M1 PVS M1 C 90 NextM1 91 GoSub S60WRDAT Tracking data storage processing 92 Return 93 94 HHHHH Tracking data storage processing 95 S60WRDAT 96 For M1 1 To MNUM Perform processing for the number of workpieces recognized 97 PSW P_Zero 98 PSW PRBORG Virtually move the robot close to the vision sensor 9
69. 7 05 30 20 21 30 485 4 ORIGIN BRK 07 05 30 20 21 30 485 07 05 30 20 21 30 485 07 05 30 20 21 30 485 5 Press the arrow key combine the cursor with the program name B1 and press the EXE key Display the lt program edit gt screen lt FILE EDIT gt 1 20Rem 136320 1 07 05 30 20 21 30 485 Al 07 05 30 20 21 30 485 lt PROGRAM gt B1 1 Ver Al HARRAH 2 tracking robot conveyor calibra B1 07 05 30 20 21 30 485 C1 07 05 30 20 21 30 485 3 NAME Bl prg 4 Create version 2006 04 21 Al ayua psala 123 BUS Se a Operation procedure 14 55 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 6 Press the FUNCTION key and change the function display lt PROGRAM gt B1 1 Ver Al Hee 2 tracking robot conveyor calibra 3 NAME Bl prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH lt PROGRAM gt B1 1 Ver Al HHHH HHHH AH 2 tracking robot conveyor calibra 3 NAME B1 prg 4 Create version 2006 04 21 Al 7 Press the F1 FWD key and execute step feed 1 Encoder No is displayed lt PROGRAM gt B1 4 Create version 2006 04 21 Al 5 COPYRIGHT MITSUBISHI ELECTRIC G HERHHHHHEEE EHHH HEHEHEHEH HHHH 7 1 Encoder No 8 Work according to the comment directions in the robot program 9 Next 2 Vision sensor Execute step feed to lt PROGRAM gt B1 MECMAX 8 If
70. 7 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION 6 GRRE 7 1 Store a model number in the X coordinate of the PRM1 variable 8 2 Store an encoder number in the Y coordinate of the PRM1 variable 9 3 Check live images and register the length in the movement direction to the X coordinate of the PRM2 variable 10 4 Store the workpiece length in the Y coordinate of the PRM2 variable 11 5 Enter the COM port number to be opened for communication after CCOM in the following line 12 CCOM COM2 Set the number of the port to be opened 13 6 Enter the vision program name after CPRG in the following line 14 CPRG TRK JOB Set the vision program name 15 7 Place workpieces to be tracked in locations recognizable by the vision sensor 16 8 Place the vision sensor in the online status 17 9 When the program stops open program C1 with T B 18 MWKNO PRM1 X Acquire the model number 19 MENCNO PRM1 Y Acquire the encoder number 20 Establish a communication line with the vision sensor via the opened port 21 NVClose Close communication line 22 NVOpen CCOM As 1 Open communication line and log on 23 Wait M_NvOpen 1 1 Wait to log on to the vision sensor 24 EBRead 1 MNUM PVS1 PVS2 PVS3 PVS4 Acquire data of one recognized workpiece 25 P_101 MWKNO PVS1 Acquire data of the first recognized workpiece 26 ME1 M_Enc MENCNO Acquire encoder data 1 27 NVClose 1 28 Hi
71. 700 series controller Figure 21 1 Connector Arrangement shows the connector arrangement and Table 21 3 Connectors CNENC CNUSR Pin Assignment shows pin assignment of each connector CNUSR2 CR750 D CR751 D CNENC CRnD 700 Encoder Encoder x 2CH 25 1 E 50 26 Connector CNUSR2 CNUSR11 12 13 CR750 D 1B 1A Encoder k i 1 16 Connector CNUSR11 12 13 Figure 21 1 Connector Arrangement Connector CNENC Expansion serial interface Connector Pin Assignment 21 113 21 Appendix Table 21 3 Connectors CNENC CNUSR Pin Assignment Pin NO CRnD 700 Connector name Pin name Signal controller CR751 D CR750 D name Explanation Input output Remark CNENC controller controller 1A CNUSR1 28 CNUSR11 6 SG Control power supply 0 V GND 2A CNUSR1 21 CNUSR13 3 LAH1 terminal of differential encoder Input A phase signal 3A CNUSR1 22 CNUSR13 5 LBH1 terminal of differential encoder Input CH1 B phase signal 4A CNUSR1 23 CNUSR13 8 LZH1 terminal of differential encoder Input Z phase signal 5A CNUSR1 33 CNUSR12 6 SG Control power supply 0 V GND 6A CNUSR2 21 CNUSR2 21 LAH2 terminal of differential encoder Input A phase signal 7A CNUSR2 22 CNUSR2 22 LBH2 terminal of differential encoder Input CH2 B phase signal 8A CNUSR2 23 CNUSR2 23 LAH2 terminal of differential encoder Input Z phase s
72. 81LOP 339 Else If the signal check is DISABLE 340 Dly MX80SEC Wait at the specified check time 341 MY81SKP 1 OK 342 Endlf 343 L81END 44 Re a PDLY 1 1 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 21 144 Sample Programs 21 Appendix PWK 1 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PRI 1 000 1 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 P1 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PBPOS 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PX50CUR 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PRNG 300 000 200 000 400 000 0 000 0 000 0 000 0 000 0 000 0 0 PTN 1 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PWAIT 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PAC 1 100 000 100 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PTBASE 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PGT 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PAC2 100 000 100 000 0 000 0 000 0 000 0 000 0 000 0 000 0 PHND 0 000 900 000 900 000 0 000 0 000 0 000 0 000 0 000 0 PAC3 100 000 100 000 0 000 0 000 0 000 0 000 0 000 0 000 0 PAC11 100 000 100 000 0 000 0 000 0 000 0 000 0 000 0 000 PPT 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PUP2 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 0 PAC12 100 000 100 000
73. 9 PSW X PSW X MX M1 Create the grabbing position 100 PSW Y PSW Y MY M1 101 PSW C PSW C MT M1 102 PRW P_Zero 103 PRW PSW PVTR Compensate for the error in the calculation value 104 PRW FL1 P_100 MWKNO FL1 105 PRW FL2 P_100 MWKNO FL2 106 Select MENCNO 107 Case 1 108 TrWrt PRW MTR1 MWKNO 1 MENCNO_s Position encoder value model number buffer number encoder number Sample Programs 21 137 21 Appendix 109 Break 110 Case 2 111 TrWrt PRW MTR2 MWKNO 1 MENCNO_s Position encoder value model number buffer number encoder number 112 Break 113 Case 3 114 TrWrt PRW MTR3 MWKNO 1 MENCNO_s Position encoder value model number buffer number encoder number 115 Break 116 Case 4 117 TrWrt PRW MTR4 MWKNO 1 MENCNO_ Position encoder value model number buffer number encoder number 118 Break 119 Case 5 120 TrWrt PRW MTR5 MWKNO 1 MENCNO_s Position encoder value model number buffer number encoder number 121 Break 122 Case 6 123 TrWrt PRW MTR6 MWKNO 1 MENCNO_s Position encoder value model number buffer number encoder number 124 Break 125 Case 7 126 TrWrt PRW MTR7 MWKNO 1 MENCNO_ Position encoder value model number buffer number encoder number 127 Break 128 Case 8 129 TrWrt PRW MTR8 MWKNO 1 MENCNO_ Position encoder value model number buffer number encoder number 130 Break 131 End Select 132 Next M1 133 Return PVS 1 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0
74. C11 Y Mov PPT PUP2 Y Accel PAC12 X PAC12 Y Cnt 1 0 0 Mov PPT Type 0 0 GoSub S860PEN MX81ENA PHND X MX81SIG PHND Z MX81SEC PDLY2 X GoSub S81CWOFF Cnt 1 Accel PAC13 X PAC13 Y Mov PPT PUP2 Z Type 0 0 21 128 Sample Programs End distance of the range where the robot can Conveyer position pattern number Workpiece position confirmation processing Already passed Go to the next workpiece Operable start tracking Wait for incoming workpieces Change to workpiece wait posture Conveyer position pattern number When the conveyer is the front of the robot X coordinates of the robot are matched to Y coordinates of the robot are matched to Move to workpiece wait posture PWAIT Set workpiece wait flag Monitor the robot following workpieces too far Tracking operation start setting Move to tracking midair position Move to a suction position Turn suction ON Check instruction Check signal number Check second number s adsorbtion confirmation Move to tracking midair position Tracking operation end setting Move to over the placement position Move to the placement position Turn suction OFF Check instruction Check signal number Check second number s Release confirmation Move to over the placement position 21 Appendix 114 Accel 100 100 115 Return 116 117 Transportation data setting processing 118 S40DTSET 119
75. CUR Y gt M50END Then MY50STS 3 Move onto the next workpiece 190 If PosCq PX50CUR 0 And PXS50CUR Y gt M50STT And PXS50CUR Y lt M50END_ Then MY50STS 3 Outside the movement range 191 Endlf 192 Break 193 Case 2 Front left gt right 194 M50STT MX50ST 195 M50END MXS50ED The end side has a negative value 196 If PosCq PX50CUR 1 And PXSOCUR Y lt M50STT And PXSOCUR Y gt MS50END Then 197 MYS0STS 2 Tracking possible PTRST Y P_CvSpd MBENCNO Y MTRSTT 1000 PTRST PTRST PS50FWCUR Position when beginning to follow as for PTRED Y P_CvSpd MBENCNO Y MTREND 1000 PTRED PTRED P50FWCUR Position when having finished following as for workpiece 203 If PTRST X gt P3HR Z And PTRST X lt P3HR Z Then case the singular point area 204 If PTRST Y gt P3HR Z And PTRED Y gt P3HR Z Then MYSOSTS 2 The position of the work peace is OK from the singular point if previous 205 If PTRED Y gt P3HR Z And PTRED Y lt P3HR Z Then MY50STS 3 If the tracking end position is singular point neighborhood it is NG 206 If PTRST Y gt P3HR Z And PTRST Y lt P3HR Z Then MYSOSTS 3_ If the tracking start position is singular point neighborhood it is NG 207 If PTRST Y lt P3HR Z And PTRED Y lt P3HR Z Then MYSOSTS 3 _ It is NG if passing over the singular point Endlf 210 Else If tracking not possible 211 If PXSOCUR Y gt 0 Then MY50STS 1 Wait 212 If PX50CUR Y lt 0 Then MY50STS 3 Move onto t
76. Calculate the difference of the encoder value B1 prg End out of Error output 910 Chart of sample program 21 121 21 Appendix 3 C prg 21 122 Chart of sample program C1 prg Start Set information corresponding to the made vision program Acquire the model number and the encoder number set by program C Close communication line i Open communication line and log on y Execute the vision program and acquire data of one recognized workpiece y Acquire the current encoder data first time i Close communication line Acquire the current encoder data second time y Acquire the current position y Calculate the amount of encoder movement C1 prg End 4 CM1 prg CM1 prg Start lt Data acquisition gt Start Data acquisition Acquire the data acquired in program A B and C t Vision sensor initialization t Condition setting v Set the timing in which the image is acquired i Opening communication Vision sensor recognition check CM1 prg End lt Data acquisition gt End lt Condition setting gt Start Calculation of imaging start setting value lt Condition setting gt End lt V
77. Change the line of CPRG C1 program when not assuming TRK Q Ee Edi Wem Imate Sensor Wde Hebo OBda AaB Zintr gt wv ree osn iMoez amp USae Daz ial p Locate Part 3 Inspect Part 3 Configure Rest 0559 1444 0 0 sco 100 0 Rote 100 0 1 1 O 0ms Click Run Job from Application Steps Click Online on Job Status 15 72 Program for Vision Tracking 15 Workpiece Recognition and Teaching C1 program 2 Enter the model number and encoder number in the X and Y coordinates of the position variable PRM1 in the program a Press the function key F2 corresponding to the change and display the position edit screen lt PROGRAM gt C1 KPOS gt JNT 100 P_100 0 14H Ver Al AHEHE EIEEEI HEHHEHE X o X 1 2 tracking robot oor calibra 3 NAME C1 p 4 Create version 5006 04 21 Al Clem 123 b The F3 Prev key or the F4 Next key is pressed change the target variable and display PRM1 on the position name lt POS gt JNT 100 PRM1 X 0000 00 A 0000 00 Y 0000 00 B 0000 00 Z 0000 00 C 0000 00 L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 c X coordinates are selected by the arrow key press the CLEAR key for a long time and delete the details Input the model number into X coordinates lt POS gt JNT 100 PRM1 X 0001 00 A 0000 00 d Y coordinates are selected by the arrow key pre
78. Description Explanation This program matches the coordinate systems of the conveyer and robot and calculates the amount of robot movement per encoder pulse Conveyer robot coordinate system calibration program Workpiece coordinate system This program calculates the coordinates at which the robot grabs robot coordinate system a workpiece based on the coordinates at which a sensor is matching program activated This program handles transporting workpieces while following recognized workpieces Operation program 1 Movement to the robot origin 2 Workpiece suction and transportation operation while following movement CM1 Workpiece coordinate monitor This program monitors encoder values and stores workpiece program coordinates Table 12 2 List of Sample Robot Programs Vision Tracking Program name Description Explanation This program matches the coordinate systems of the conveyer and robot and calculates the amount of robot movement per encoder pulse Vion coordinate sy soit This program matches the vision coordinate system and the robot robot coordinate system coordinate system calibration program Conveyer robot coordinate A1 eee system calibration program Workpiece coordinate system This program calculates the coordinates at which the robot grabs robot coordinate system a workpiece based on the coordinates at which a vision sensor matching program has detected the workpiece This program handles t
79. INIT L Operating H 3 START lid Ea L O A a Start a Ea O L I START L ae Stop H EN STOP L PLC sets servo ON H when it detects turning servo ON L The robot turns the servo power supply on and sets turning servo ON H PLC acknowledges turning servo ON H and sets servo ON L PLC sets program reset H upon receiving program selectable L The robot returns to the beginning of the program and sets program selectable H when the program becomes ready to be started PLC sets program reset L when it detects program selectable H PLC acknowledges turning servo ON H program selectable H and operating L and sets start H The robot sets program selectable L and operating H when it detects start H PLC confirms operating H and sets start L Ifa stop signal is input the following processing is performed Upon receiving stop H from PLC the robot sets operating L Timing Diagram of Dedicated Input Output Signals 19 97 20 Troubleshooting 20 Troubleshooting This section explains causes of error occurrence and actions to be taken 20 1 Occurrence of Error Numbers in the Range from 9000 to 9999 This section describes causes of errors that may occur while starting a program and how to handle them Table 20 1 List of Errors in Sample Programs Error number 9100 Communication Causes error The net
80. J Set turning on interrupt when the workpiece pass more than the Setting distance Set turning on interrupt when the workpiece pass more than the Setting distance Set turning on interrupt when the workpiece pass more than the Setting distance Set turning on interrupt when the workpiece pass more than the Setting distance i End sa lt Transportation data lt Workpiece position confirmation gt Start Front1 Front 2 onveyer position pattern right and left 1 right and left 2 Y End ae position confirmation gt Is the position of workpiece good at tracking No Is the workpiece this side of range No Did workpiece pass in range Is the position of orkpiece good at tracking Error output 9199 Yes Yes t Inside the area 2 Yes Wait 1 y lt For RH 3S HR gt hen passing over the singular point neighborhood 3 Already passed 3 2 21 120 Chart of sample program 21 Appendix 21 4 2 Vision Tracking 1 A1 prg The same program as the conveyer tracking 2 B1 prg Check the encorder number inside of range Acquire encoder data first time t Acquire encoder data second time t
81. MITSUBISH ISHI Mitsubishi Industrial Robot CR750 CR751 series controller CRn 700 series controller Tracking Function INSTRUCTION MANUAL MELFA BFP A8664 H Safety Precautions Always read the following precautions and separate Safety Manual carefully before using robots and take appropriate action when required yo A Caution A Caution A Warning A Caution A Warning A Caution A Caution A Caution Teaching work should only be performed by those individuals who have undergone special training The same applies to maintenance work with the robot power ON Conduct safety education Prepare work regulations indicating robot operation methods and procedures and measures to be taken when errors occur or when rebooting robots and observe these rules at all times The same applies to maintenance work with the robot power ON Prepare work regulations Only perform teaching work after first equipping the controller with a device capable of stopping operation immediately The same applies to maintenance work with the robot power ON Equip with an EMERGENCY STOP button Notify others when teaching work is being performed by affixing a sign to the START switch etc The same applies to maintenance work with the robot power ON Indicate that teaching work is being performed Install fences or enclosures around robots to prevent contact between robots and workers duri
82. Maintenance of robot program TrWrt writing tracking data Function Write position data for tracking operation encoder data and so on in the data buffer Format TrWrt O lt Position data gt lt Encoder data gt lt Model number gt lt Buffer number gt lt Encoder number gt Term lt Position data gt cannot be omitted Specify the workpiece position measured by a sensor lt Encoder data gt can be omitted Specify the value of an encoder mounted on a conveyer at the time a workpiece is measured The encoder value acquired in the M_Enc state variable and the TrOut instruction is specified usually lt Model number gt can be omitted Specify the model number of workpieces Setting range 1 to 65535 lt Buffer number gt can be omitted Specify a data buffer number 1 is set if the argument is omitted Setting range 1 to 4 The first argument of parameter TRBUF lt Encoder number can be omitted Specify an external encoder number The same number as the buffer number is set if the argument is omitted Setting range 1 to 8 Example 1 Tracking operation program 1 TrBase PO Specify the workpiece coordinate origin at the teaching position 2 TrRd P1 M1 MKIND Read the workpiece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1 4 Mvs P2 Setting the c
83. Program for Conveyer Tracking 15 Workpiece Recognition and Teaching C1 program 2 Tasks 1 Enter the model number encoder number and number of the sensor that monitors the workpieces in the X Y and Z coordinates of the position variable PRM1 in the program a Press the function key F2 corresponding to the change and display the position edit screen lt PROGRAM gt C1 KPOS gt JNT 100 PRM2 1 HH Ver AT iii 1000 Oe ae 2 tracking robot conveyor calibra Z 9000 3 NAME C1 prg 4 Create version 2006 04 21 Al eis 123 b The F3 Prev key or the F4 Next key is pressed change the target variable and display PRM1 on the position name lt POS gt JNT 100 PRM1 X 0000 00 A 0000 00 c X coordinates are selected by the arrow key press the CLEAR key for a long time and delete the details Input the model number into X coordinates lt POS gt JNT 100 PRM1 X 0001 00 A 0000 00 d Y coordinates are selected by the arrow key press the CLEAR key for a long time and delete the details Input the encoder number into Y coordinates lt POS gt JNT 100 PRMI X 0001 00 A 0000 00 e Z coordinates are selected by the arrow key press the CLEAR key for a long time and delete the details Input the number of the sensor that monitors the workpieces into Z coordinates lt POS gt JNT 100 PRM1 X 0001 00 A 0000 00 Y 0001 00 B 0000 00 Z 0810
84. SVO ON lamp will light Selection of a program number Display of a program number Press the CHNG DISP CHNG DISP key and display i PROGRAM NO on O the STATUS NUMBER STATUS NUMBER display Selection of a program number Press the UP or the DOWN key and display program name 1 Preparation 18 85 18 Automatic Operation 18 2 Execution 1 Be sure that you are ready to press the Emergency Stop button of T B in the case of any unexpected movement of the robot 2 Run the program from the operation panel of the robot controller Note The robot of the specification without the operation panel of the controller operates by the external signal corresponding to the following step Although the image of the operation panel is the robot controller the operation method is the same in other controllers Start of automatic operation Start Press the START key 18 3 At error occurrence If the robot moves erroneously refer to separate manual Troubleshooting 18 4 Ending The robot does not move unless a sensor that monitors workpieces is activated or a vision sensor recognizes a workpiece Stop the flow of workpieces from the upstream and press the STOP button of the operation panel of the robot controller Confirm that the STOP lamp is turned on Note The robot of the specification without the operation panel of the controller is stopped by the external signal 18 5
85. _1 Fail Pattem_1 Fail_Count Pattem_1 Find_Mode Pattem_1 lgnore_Polarity Pattem_1 Include_In_Job_Pass Pattem_1 Pass Pattem_1 Pass_Count Pattem_1 Pattems Pattem_1 Result Pattem_1 Rotation_Tolerance Pattem_1 Scale_Tolerance Pattem_1 Status Pattem_1 Strict_Scoring Cancel Click sign of Pattern_1 and select it in the following order while pushing the Ctrl key 1 Pattern_1 Pass 2 Pattern_1 Fixture X 3 Pattern_1 Fixture Y 4 Pattern_1 Fixture Angle Click OK button Program for Vision Tracking 15 71 15 Workpiece Recognition and Teaching C1 program Confirmation of communication format Q Eie Edi Views Imaw Seso System Window Heip Bd 62 tanx jik iuo 8 OS8ae Dag p gt inspect Part Nene Data Type Pattern 1 Pass Floating Point Pattern 1F octure X Floating Pont Patten IF icture Y Floating Point Patten LF icture Angie Floating Point j 1 000 288 926 144 41 Confirm the value enclosed with a square frame Data sent to the robot controller is shown in a right square frame Change the value of Decimal Places and change the number of decimal positions of transmitted data ave the v Q E iDG6a 4D AAG Bik ikoOs r amp OSSBe Daz Startup Job lt Mew gt Start the Sensor in Online Mode Click Save Job from Application Steps Click Save from Save Job Make the name of the job that saves it TRK
86. a calibration jig on the mechanical interface of a robot Connect a personal computer on which RT ToolBox2 option is installed to the robot controller 2 Set the controller mode to MANUAL Set the T B to ENABLE T B n Up DISABLE a Down ENABLE Lamp lighting T B rear 3 Press one of the keys example EXE key while the lt TITLE gt screen is displayed The lt MENU gt screen will appear Ver S3 2 RUN COPYRIGHT C 2011 MITSUBISHI ELEC 4 ORIGIN BRK ARIS CORPORATION ALL RIGHTS RESE 4 Select 1 FILE EDIT screen on the lt MENU gt screen lt MENU gt 1 20Rem 1 FILE EDIT 2 RUN 07 05 30 20 21 30 07 05 30 20 21 30 3 PARAM 4 ORIGIN BRK PS lt I 5 SET INIT 07 05 30 20 21 30 07 05 30 20 21 30 5 Press the arrow key combine the cursor with the program name A1 and press the EXE key Display the lt program edit gt screen 1 20Rem 07 05 30 20 21 30 1 Ver Al 7HHRH EAE 07 05 30 20 21 30 2 tracking robot conveyor calibra 07 05 30 20 21 30 3 NAME Al prg 07 05 30 20 21 30 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH Operation procedure 13 49 13 Calibration of Conveyer and Robot Coordinate Systems A1 program 6 Press the FUNCTION key and change the function display lt PROGRAM gt Al lt FOFSL gt A 1 HAE Ver A1 HHH ee AE 1 HH Ver A1 HEHEHEHEHE EHEHE HEHEHEHEHE 2 tracking robot conveyor calibra 2 tracking
87. ach robot CPU Q173DPX Components 2 7 2 System Configuration Name of devices to be provided by customers Model Quantity Remark Conveyer part Conveyer with encoder Photo electronic sensor 24V power supply Encoder distribution unit 2F YZ581 Encoder Voltage output open collector type Line driver output Confirmed operation product Omron encoder E6B2 CWZ1X 1000 or 2000 Encoder cable Recommended product 2D CBL05 2D CBL15 JThe Q173DPX unit supplies 5V power supply to the encoder 24 VDC 10 For the Photo electronic sensor and Vision sensor The Encoder distribution unit is required when two or more manual pulser input units are connected to the one encoder Provide this unit as necessary Refer to the Encoder Distribution Unit Manual BFP A3300 for details Vision sensor part Basic network vision sensor set In Sight 5000 series In Sight Micro In Sight EZ 4D 2CG5xxxx PKG Lens Lighting installation See the instruction manual of the network vision sensor for details COGNEX Vision sensor C mount lens Provide as necessary Connection part Hub Ethernet cable straight Between Robot controller and Hub Between Personal computer and Hub Personal computer part Personal computer RT ToolBox2 Personal computer support software 3D 11C WINE 3D 12C WINE 2 8 Components Please refer to the instruction m
88. activated based on the following data acquired with A1 program and C1 program and then stores the coordinates in the tracking buffer Storage area to preserve data temporarily lt Acquired data gt e Amount of robot movement per encoder pulse P_EncDIit e Difference between the encoder value when a photoelectronic sensor is activated and the encoder value when teaching is performed on a robot e Position at which the robot is taught to grab a workpiece 17 2 Program for Vision Tracking CM1 program converts the workpiece position recognized by the vision sensor to the corresponding coordinates in the robot coordinate system based on the following data acquired with A1 program B1 program and C1 program and then stores the coordinates in the tracking buffer lt Acquired data gt e Amount of robot movement per encoder pulse P_EncDIit e Difference between the encoder value when a marking sticker is on the vision sensor side and the encoder value when the marking sticker is on the robot side e Workpiece position recognized by the vision sensor e Difference between the encoder value when the vision sensor recognizes a workpiece and the encoder value when teaching on the workpiece position was performed on the robot e Position at which the robot is taught to grab a workpiece The timing at which the vision sensor acquires images is calculated such that images of the same workpiece are taken at least once
89. alled in the flange of the robot The position that the vision sensor outputs becomes the flange position of the robot However when teaching by the C1 program the gap is caused there to use and to teach the hand c In the setting of A1 C1 program some mistakes are found P_EncDIt the amount of the movement of the robot per a pulse in the A1 program is an unexpected value Or in the B1 program the direction of three points specified by the calibration was different or it was the inputting error of coordinates Occurrence of Error Numbers in the Range from 9000 to 9999 20 99 20 Troubleshooting 20 2 Occurrence of Other Errors Table 20 2 List of Tracking relation Errors Error oi 7 Error description Causes and actions number L2500 Tracking encoder Causes data error The data of the tracking encoder is abnormal The amount of the change is 1 9 times or more Actions 1 Check the conveyor rotates at the fixed velocity 2 Check the connection of the encoder 3 Check the earth of the earth wire L2510 Tracking parameter Causes reverses Tracking parameter EXCRGMN and EXCRGMX Setting value reverses Actions 1 Check the value of ENCRGMX and ENCRGMN parameters L2520 Tracking parameter is Causes range over The set value is outside the range parameter TRBUF The first argument is 1 to 8 and the second argument is 1 to 64 Actions 1 Check the value of TRBUF parameter L253
90. anual of RT ToolBox2 or the instruction of the network vision sensor for details of the personal computer specifications Please refer to the instruction manual of RT ToolBox2 for the details of the personal computer specifications 2 System Configuration 2 2 Example of System Configuration The following figure shows examples of conveyer tracking systems and vision tracking systems 2 2 1 Configuration Example of Conveyer Tracking Systems The following figure shows a configuration example of a system that recognizes lined up workpieces on a conveyer passing a photo electronic sensor and follows the workpieces Robot CPU Q173DPX Controler SEENI DU Photoelectric sensor Detected the inflow i of the work Encoder 7 Detected the speed ofthe convetor WY Zz a a RS a Workpieces Lf flow direction N N Robot movement range Workpieces Figure 2 1 Configuration Example of Conveyer Tracking Top View Example of CR2Q controller It is the same by other controllers A Encoder cable Figure 2 2 Configuration Example of Conveyer Tracking Example of System Configuration 2 9 2 System Configuration 2 2 2 Configuration Example of Vision Tracking Systems The following figure shows a configuration example of a system that recognizes positions of workpieces that are not lined up on a conveyer with a vision sensor and follows the workpieces Robot CPU__Q173DPX Controler Robo
91. ations and Restriction matter 5 Connection of Equipment 5 Connection of Equipment This section explains how to connect each of the prepared pieces of equipment 5 1 Preparation of Equipment Prepare equipment by referring to Table 2 2 List of Devices Provided by Customers Conveyer Tracking to construct a conveyer tracking system and Table 2 3 List of Devices Provided by Customers Vision Tracking to construct a vision tracking system Preparation of Equipment 5 13 5 Connection of Equipment 5 1 1 Q173DPX manual pilser input unit specification Add Q173DPX unit into PLC base unit Q3qDB when the customer use CR750 Q CR751 Q series CRnQ 700 series tracking function Please refer to Q173DCPU Q172DCPU user s manual about details of this unit 1 External and name of Q173DPX unit 1 Q173DPX PISA ASB TREN 2 2 2 4 2 3s 3 JO a 10 10 ao 10 a0 10 10 10 10 10 PULSER i 3 10 10 10 10 10 10 10 10 a0 soa JO Q173DPX U a8 No Name pplication Module fixing hook Mode judging LED Hook used to fix the module to the base unit Single motion installation Display the input status from the external equipment LED PLSA 1to3 Display for input signal status of manual pulse generator incremental synchronous PLS B 1 to3 encoder phases A B TREN 1to3 Display for signal status of tracking enab
92. bleshooting 20 3 In such a case improvement example Explain the improvement example when building the tracking system using the sample robot program 20 3 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 The position doesn t shift Check the position gap Adjustment completion The position shifts confirmation 1 Confirm whether neither the encoder nor the conveyer slip slip Fix the encoder confirmation 2 Check whether to recognize the image center correctly Check the Slip of enc Not slip Recognition is defective Change the setting of Check the ha the vision sensor vision correctly recognizes confirmation 3 Check whether the calibration is correct Not correct Do the work of the B1 program again Check calibration the correct 20 102 In such a case improvement example 20 Troubleshootin confirmation 4 Check the case where work at the center of view is recognized Confirm of aap tendency The gap is constant The gap is irregular Do the work of the A1 program again Do the work of the C1 program again The position shifts when the speed of the conveyer is fast confirmation 5 Adjust taking picture with the timing of t
93. bution unit The Encoder distribution unit is required when two or more manual pulser input units are connected to 2F YZ581 1 the one encoder Provide this unit as necessary Refer to the Encoder Distribution Unit Manual BFP A3300 for details Personal computer part Personal computer Please refer to the instruction manual of RT RT ToolBox2 ToolBox2 for the details of the personal computer Personal computer 3D 11C WINE specifications l p 3D 12C WINE support software Quantity Remark Table 2 3 List of Devices Provided by Customers Vision Tracking Name of devices to be provided by customers Robot part Teaching pendant R32TB R33TB or R56TB R57TB Model Quantity Remark e eee Hand sensor Used to confirm that workpieces are gripped correctly Provide as necessary Solenoid valve set Different models are used depending on the See the Remark Hand input cable column robot used Check the robot version and provide as necessar Air hand interface 2A RZ365 or CRnQ 700 CRnD 700 series eee atl 2A RZ375 ide as eee atl Calibration jig This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks It is recommended to use the jig if high precision is required Encoder pulse unit se than jmanual pulser input unit for motion controller This unit cannot be connected with two or more robot CPU Please prepare for unit necessary in e
94. cation Steps Set Calibration Type displayed in the lower right of the screen to Import Specify the file that exported when the calibration is done to File Name 4 Confirm workpiece is recognized by starting the job and the recognition result robot coordinate is correct example 0 0 is displayed as a recognition result when assuming that the robot coordinates are set as follows when the calibration is done by using the calibration seat and using a sign in four corners the first point xy the second point xy the third point xy the fourth point xy 100 100 100 100 100 100 and 100 100 ati x 5 Arrange workpieces on four corners 6 Confirm whether the workpieces put on four corners of the image is recognized similar and correctly The recognition result becomes 100 100 100 100 100 100 and 100 100 confirmation 4 Stop the conveyer Put workpiece on the center of the vision view Change X coordinates of PDLY1 in 1 program to a big value like the 10 second etc Start 1 program and start the conveyer in low speed Stop the conveyer because it keeps following during the 10 second in the place where the robot moved to the adsorption position And stop 1 program 6 Confirm whether the position in which the robot adsorbs workpiece is correct 7 Confirm the tendency to a positional gap repeating this work several times aBRWhNDN
95. cation program 4 Date of creation version 2012 07 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION 6 RRR RHP 7 Dim MX 4 MY 4 MT 4 PVS 4 X Y C buffer 8 9 HHH Main processing 10 SOOMAIN 11 GoSub S10DTGET Data acquisition processing 12 GoSub S20VSINI VS initialization processing 13 GoSub S30CONST Condition setting 14 15 MEP M_Enc MENCNO MEl 100 16 GoSub S70VOPEN Vision sensor line open vision program load processing 17 LOO_00 18 GoSub S40CHKS VS recognition check processing 19 GoTo L00_00 20 End 21 22 HHHH Data acquisition processing 23 S10DTGET 24 MWKNO M_09 Model number 25 MENCNO P_102 MWKNO Y Encoder number 26 MVSL P_103 MWKNO X VS screen size longitudinal distance 27 MWKL P_103 MWKNO Y Workpiece size longitudinal distance 28 29 PTEACH P_100 MWKNO Position taught to the robot 30 PVSWRK P_101 MWKNO Position recognized by VS 31 CCOM C_100 MWKNO COM port number 32 CPRG C_101 MWKNO Vision program name 33 Return 34 35 HHHHE Opening communication line HH 36 S70VOPEN 37 NVClose Close communication line 38 NVOpen CCOM As 1 Open communication line and log on 39 Wait M_NvOpen 1 1 Wait for line connection 40 NVLoad 1 CPRG Load the vision program 41 Return 42 43 HHH VS initialization processing HHHE 44 S20VSINI 45 Move from the robot coordinate axis P_ZERO position to the robot
96. ccceeeeeeeeeeneeceeeeeeeseceecaeeeeeeeeeeeesenanees 20 106 20 3 6 Circle movement in trACKiNG eee a E AEE ERATE EERE 20 106 20 3 7 Draw the square while doing the tracking ccccceceeeeeteeeeeeeteeeeeteneeeeetneeeee teases tneeeeeeaa 20 107 21 ADPONGIXG vt cttntarl certs Ate idle tions AE E lidt a uteta sides atta ak 21 108 21 1 List of Parameters Related to Tracking ccccececeeceeeeeeeeeeeeeeeneeeeeeneeeeeseeeaeeeeeeeaeeseeaeeeeneanees 21 108 21 2 shine of changing parameter eirese eae ete E E EER E ERRE EER 21 110 21 3 Expansion serial interface Connector Pin ASSIGNMENT ceeeceeeeeeeeeeeeeeeeteeteeeeteeeaeeeeeenaeees 21 113 21 4 Chart of sample program eccsteis ane iiet alesse Adina ead eda adh alder 21 115 241 4512 CONVEYED tacking eurai E EE EEA EE babe EEEE EE 21 115 21 42 VISION MICKI oea A ARE A evunietineal 21 121 21 5 Samille Progra Senra a A EEE EAEE E 21 125 215512 COnVeVEeN TraCkng aoia EE E E 21 125 21 5 2 Vision MARNI a aE ATE EEE E cine 21 134 24 59 35 FOr RASS HR S A a a a E a a a a iad tiie 21 139 1 Overview Part 1 Overview 1 Overview 1 1 What is the Tracking Function The tracking function allows a robot to follow workpieces moving on a conveyer With this function it becomes possible to transport line up and process workpieces without having to stop the conveyer It also eliminates the need for mechanical fixtures and so forth required to fix workp
97. cece cece eeceenaececeeeeeseneaeaececeeeeesencanaeeeeeeeeneeeaees 10 41 10 2 3 Connection of Photoelectronic Sensor cccccceceeeeeeceeceeeeeeeseceneaeceeeeeeeseccaaeeeeeeeeeeeenaees 10 45 11 Parameter seting rian ee a A E RE A A 11 46 11 1 Dedicated Input Output Parameters cccccccceceeeeeececeeeeeeeeeeceneaeeeeeeeeesecaeaeeeeeeesessnsuaeeeeeess 11 46 11 2 Operation Parameters riino nna ra a e Ea rei a e ein aE aA 11 46 11 3 Tracking Parameter Setting orearsnsrniererania i enera EA Gaia E Ae A eee 11 47 Part 4 Tracking Control common function between Series seeeeeeeeeeeeeeees 11 48 12 Sample Robot Programs tchiich daha eid ei teed 12 48 13 Calibration of Conveyer and Robot Coordinate Systems A1 program ccceceeeeeeeeeeeeeteeeeeeee 13 49 13 1 Operation procedures tcH ek ete ads cada a as onan dean adhe 13 49 13 2 TASKS EOAR E ad ete ada ander ae ae td be eeenedeet eaten 13 51 13 3 Confirmation after operation ccccccceceecececceeeeeeeeeeeeeeceeeeeseceeaeaeceeeeeseceeaeeeeeeeeesessenieeeeeeess 13 53 13 4 When multiple Conveyers are used ceceeeececeeeneeeeeeneeeeeeaeeeeeeaaeeeseeaeeeeeenaeeeseenaeeeeeeneeeeneaes 13 53 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program s es 14 54 14 1 Operation procedurees oeehwiis ede adh ee tielditcaden eet adie dan Mehta 14 54 14 2 CAME AEE EEA EE I E EE Acide ten een ete ead 14 57
98. cond 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 Shine of changing parameter 21 111 21 Appendix Operation phase rae Example Explanation name CRnQ 700 CRnD 700 Others 0 0 0 0 This parameter is a parameter eal oe enoremn oog that sets the range of the value 100000000 of state variable M_Enc 100000000 M_Enc becomes the range of 100000000 0100000000 and next to 100000000 400000000 it becomes 0 100000000 400000000 encoder rotates in case of an 100000000 initial value ENCRGMX 100000000 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 21 112 Shine of changing parameter 21 Appendix 21 3 Expansion serial interface Connector Pin Assignment CR750 D CR751 D CRnD
99. cted with CH3 of Q173DPX unit is not allocated to logic encoder number So by changing this parameter to 1 2 3 1 2 3 1 2 the encoder of CH3 is allocated to logic encoder number 3 and 6 Also it is possible in following case 3 pcs encoder are connected with Q173DPX unit and attach each encoder to conveyer 1 to 3 If conveyer1 connect to encoder3 conveyer 3 connect to encoder 1 it is not effective to change encoder so by changing this parameter to 3 2 1 3 2 1 1 2 encoder attached with conveyer 1 becomes logic encoder 1 Parameter TRCWDST Example In case of system debug TRADJ1 TRBUF 21 Appendix Explanation 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 se
100. d the Y key and confirming the operation of the robot Setting of adjustment variables in the program 16 79 16 Teaching and Setting of Adjustment Variables 1 Program PTN Set the position of the robot and conveyer and the When a conveyer is placed in front of the direction where the workpiece moves robot and the workpiece moves from the X The following values 1 to 6 left to right When in view of the robot X Y Z A B C 1 0 0 0 0 0 Setting Conveyer Conveyer value position direction The relationship between PRNG and 1 Front Right to Left PTN is shown in Figure 16 3 Diagram 2 Front Left to Right of Relationship between Adjustment 3 Left side Right to Left Variables PRNG and PTN in the 4 Left Left to Right Program 5 Right side Right to Left 6 Right side Left to Right PRNG Set range of motion where the robot judges The relationship between PRNG and workpiece to be able to follow PTN is shown in Figure 16 3 Diagram X The start distance of the range in which the of Relationship between Adjustment robot can follow a workpiece mm Variables PRNG and PTN in the Y The end distance of the range in which the Program robot can follow a workpiece mm Z The distance in which follow is canceled mm P3HR For RH 3S HR X Y Z A B C The singular point neighborhood can be moved in 800 1500 60 0 0 0
101. d to End 12 Press the F2 JUMP key and input the step number Press the EXE key Then returns to first step lt PROGRAM gt C1 STEP 1 lt PROGRAM gt C1 1 HH Ver Al te HHRHH EEHEEHE 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al EDIT DELETE 123 INSERT TEACH 13 Press the FUNCTION key and change the function display Press the F4 close key and close the program lt PROGRAM gt C1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME C1 prg 4 Create version 2006 04 21 Al SOM eR 123 ELSZ ee Vision sensor recognition area 1 Place a target workpiece 2 Recognize a workpiece with 3 Move the workpiece the vision sensor Encoder data acquisition Workpiece position acquisition lt PROGRAM gt C1 1 Ver Al HHHH HHRHH 2 tracking robot conveyor calibra 3 NAME Cl prg 4 Create version 2006 04 21 Al He 123 le Encoder data acquisition Read the current value Figure 15 2 Operation for Matching Workpiece Coordinates and Robot Coordinates 15 68 Program for Vision Tracking 15 Workpiece Recognition and Teaching C1 program 2 Tasks 1 Make the vision program Take picture of workpiece Select File New Job from the menu Click Set Up Image button from Application Steps Click Live Video button Take picture of workpiece tha
102. dlf 233 The processing to singular point of _RH 3S HR 234 Else If tracking not possible 235 If PXSOCUR X lt 0 Then MY50STS 1 Wait 236 If PXS5OCUR X gt 0 Then MY50STS 3 Move onto the next workpiece 237 If PosCq PX50CUR 0 And PX50CUR X gt M50STT And PX50CUR X lt M50END Then MYSOSTS 3 Outside the movement range 238 Endlf 239 Break 240 Case 4 Left side front gt rear 241 Case 6 Right side front gt rear 242 MS50STT MXS50ST 243 M50END MXS50ED The end side has a negative value ae If des Ng 1 And PX50CUR X lt MSOSTT And sicher mee MS50END Then 546 II The eee to singular point of RH 3S HR 247 PTRST X P_CvSpd MBENCNO X MTRSTT 1000 248 PTRST PTRST P50FWCUR Position when beginning to follow as for workpiece 249 PTRED X P_CvSpd MBENCNO X MTREND 1000 250 PTRED PTRED P50FWCUR Position when having finished following as for workpiece 251 If PTRST Y gt P3HR Z And PTRST Y lt P3HR Z Then case the singular point area 252 If PTRST X gt P3HR Z And PTRED X gt P3HR Z Then MYSOSTS 2 The position of the work peace is OK from the singular point if previous 253 If PTRED X gt P3HR Z And PTRED X lt P3HR Z Then MY50STS 3 If the tracking end position is singular point neighborhood it is NG 254 If PTRST X gt P3HR Z And PTRST X lt P3HR Z Then MY50STS 3 If the tracking start position is singular point neighborhood it is NG 255 If PTRST X lt P3HR
103. e Setting value column means not set 6 2 Operation Parameters 10064 10071 Table 11 2 List of Operation Parameter lists the setting items of parameters required to operate the robot at the optimal acceleration deceleration Parameter name Table 6 2 List of Operation Parameter Explanation Reference value Optimal acceleration deceleration hand data HANDDAT1 Optimal acceleration deceleration workpiece data WRKDAT1 Specify hand weight and so on to make settings that allow optimal acceleration deceleration operations For example if the hand weighs 3 kg changing the weight setting value from 10 kg to 3 kg makes the robot movement faster Hand weight kg size mm X Y Z gravity mm X Y Z Specify workpiece weight and so on to make settings that allow optimum acceleration deceleration operations If a workpiece is grabbed via the HClose instruction the acceleration deceleration becomes slower If a workpiece is released via the HOpen instruction acceleration deceleration becomes faster 3 0 0 0 0 0 0 The setting values are different for each robot model Use these values as reference only 1 0 0 0 0 0 0 The setting values are different for each robot model Use these values as reference only Dedicated Input Output Parameters 6 25 6 Parameter Setting 6 3 Specify to which channel of the encoder connector CNENC an encoder of conveyer is connected
104. e conveyer upstream side 13 3 Move the robot to the position right at the center of the attached sticker 14 MX10EC1 M_Enc MENCNO Acquire encoder data first time 15 PX10PS1 P_Zero Set all elements to ZERO 16 PX10PS1 P_Fbc 1 Acquire the current position first time 17 4 Raise the robot 18 5 Move the sticker in the forward direction of the conveyer 19 6 Move the robot to the position right at the center of the moved sticker 20 MX10EC2 M_Enc MENCNO Acquire encoder data second time 21 PX10PS2 P_Zero Set all elements to ZERO 22 PX10PS2 P_Fbc 1 Acquire the current position second time 23 7 Raise the robot 24 8 Perform step operation until END 25 GoSub S10ENC P_ENCDLT calculation processing 26 P_EncDIit MENCNO PY10ENC Store data in P_LENCDLT 27 End 28 29 HHHHH Processing for obtaining P_ENCDLT 30 MX10EC1 Encoder data 1 31 MX10EC2 Encoder data 2 32 PX10PS1 Position 1 33 PX10PS2 Position 2 34 PY10ENC P_ENCDLT value 35 S10ENC 36 M10ED MX10EC2 MX10EC1 37 If M10ED gt 800000000 0 Then M10ED M10ED 1000000000 0 38 If M10ED lt 800000000 0 Then M10ED M10ED 1000000000 0 39 PY10ENC X PX10PS2 X PX10PS1 X M10ED 40 PY10ENC Y PX10PS2 Y PX10PS1 Y M10ED 41 PY10ENC Z PX10PS2 Z PX10PS1 Z M10ED 42 PY10ENC A PX10PS2 A PX10PS1 A M10ED 43 PY10ENC B PX10PS2 B PX10PS1 B M10ED 44 PY10ENC C PX10PS2 C PX10PS1 C M10ED 45 PY10ENC
105. e generator Incremental synchronous encoder input tem SS Specifications O Voltage output ee n Open collector type 0 to 1 0VDC Differential output type 26LS31 or equivalent 0 to 0 8VDC Voltage output type Open collector type 5VDC Applicable types Recommended spn MR HDP01 Applicable wire size Applicable connector for the extemal A6CON1 Attachment connection A6CON2 AGCON3 AGCON4 Optional Voltage outp 30m 98 43ft Cable length Open collector e Open collect 10m 32 8 1ft Differential output type Ip t palo 5 16 Preparation of Equipment 5 Connection of Equipment 4 Wiring The pin layout of the Q173DPX PULSER connecter viewed from the unit is shown below PULSER connector Pin No Signal Name Pin No Signal Name Applicable connector model name A6CON1 type soldering type connector FCN 361J040 AU connector FUJITSU COMPONENT LIMITED FCN 360C040 8 connector cover A6CONZ2 type Cnmp contact type connector A6CONS3 type Pressure displacement type connector A6CON4 type soldering type connector Figure 5 2 Pin assignment of the PULSER connector Preparation of Equipment 5 17 5 Connection of Equipment Interface between PULSER connecter and manual pulse generator Differential output type Incremental synchoronous encoder Interface between Manual pulse generator Differential output type Incremental synchronous encoder PinNo PULSER connector Signal name Differen
106. ece moves from the front to rear the X coordinate of PTN is 4 l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l _ Workpiece l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l l C Pee eee LELLE TE EEEE Workpiece 3 movement dirgetion on oor oo oe oe te p ae ot senen o When the conveyer is placed in front of the robot and the workpiece moves from the left the X coordinate of PTN is 2 X Y Z 300 100 200 When the conveyer is placed on the right side of the robot and the workpiece moves from the rear to front the X coordinate of PTN is 5 Figure 16 3 Diagram of Relationship between Adjustment Variables PRNG and PTN in the Program Setting of adjustment variables in the program 16 83 17 Sensor Monitoring Program CM1 Program 17 Sensor Monitoring Program CM1 Program This chapter provides an overview of CM1 program which is run in parallel when 1 program is run Different types of CM1 programs are used for conveyer tracking and vision tracking and different processing is performed for them These programs are explained in the following 17 1 Program for Conveyer Tracking CM1 program calculates the workpiece coordinates in the robot coordinate system at the moment where a photoelectronic sensor is
107. ed workpiece takeout Current height lt Origin heighe Set the ovrd to 10 y t Workpiece placing Move to the escape position y 21 118 Chart of sample program 1 prg End Set the ovrd to 100 AA Move to the Origin position lt Origin return gt End No lt Initialization gt Start Set the acceleration and deceleration to 100 t Set the ovrd to 100 Turning optimal acceleration deceleration ON y Turning continuous movrment control OFF t Clear the General purpose output t Open the hand v Clear the data in the tracking buffer AA Acquire the model number set by program C Does task 2 start Start program CM1 by slot 2 aooo Set the priority of each slot lt Initialization gt End Yes lt Workpiece placing gt Start Move to over the placement position Set the ACC and DCC Move to the placement position y Turn suction OFF y Set the ACC and DCC Move to over the placement position AA Set the ACC and DCC to 100 lt Workpiece placing gt End lt Transportation data setting gt C Start v Tracking base setting y Suction position setting AA Interrupt definition
108. encer and specification of parameter ENCUNITn n 1 3 are corresponding There is a possibility Q173DPX is not robot CPU management L2570 Installation slot error Causes Q173DPx is installed in slot 0 2 of a basic base Actions Slot 0 2 of the basic base is basically only for CPU Please install Q173DPxX since slot3 20 100 Occurrence of Other Errors 20 Troubleshooting Error or Error description Causes and actions number L3982 Cannot be used Causes singular point 1 This robot does not correspond to the singular point function 2 Cmp command is executed 3 A synchronous addition axis control is effective 4 Tracking mode is effective 5 Pre fetch execution is effective 6 This robot is a setting of the multi mechanism 7 ColChk On command is executed Actions 1 Check the argument of Type specification 2 Invalidate a compliance mode execute Cmp Off 3 Invalidate a synchronous addition axis control 4 Invalidate a tracking mode execute Trk Off 5 Invalidate a pre fetch execution 6 Do not use the function of passage singular point 7 Invalidate a collision detection execute ColChk Off L6632 Input TREN signal Causes cannot be written During the actual signal input mode external output signal 810 to 817 TREN signal cannot be written Actions 1 Use an real input signal TREN signal Please refer to separate manual Troubleshooting Occurrence of Other Errors 20 101 20 Trou
109. encoder values acquired on the robot side e P_100 Position at which workpieces are suctioned e P_102 The value of the variable PRM1 set in step 1 Check that each of the values above has been entered correctly 15 66 Program for Conveyer Tracking 15 Workpiece Recognition and Teaching C1 program 15 2 Program for Vision Tracking Vision tracking C1 program acquires encoder data at the position where the vision sensor recognizes workpieces and where the robot suctions workpieces such that the robot can recognize the work coordinates recognized by the vision sensor The following explains the operation procedure and items to confirm after operation in vision tracking C1 program 1 Operation procedure 1 Register workpieces to be recognized by a vision sensor and create a vision program Please refer to In Sight Explorer manual for the method of making the vision program 2 Open C1 program using T B 3 Set the controller mode to MANUAL Set the T B to ENABLE T B Up DISABLE Down ENABLE Lamp lighting T B rear 4 Press one of the keys example EXE key while the lt TITLE gt screen is displayed The lt MENU gt screen will appear Ver S3 2 RUN COPYRIGHT C 2011 MITSUBISHI ELEC 4 ORIGIN BRK liin CORPORATION ALL RIGHTS RESE lt MENU gt 1 20Rem 1 FILE EDIT 2 RUN 07 05 30 20 21 30 07 05 30 20 21 30 3 PARAM 4 ORIGIN BRK 09 30 20 21 5 SET
110. ered guidelines The actual values depend on the specific operation environment robot model hand and other factors The line driver output is a data transmission circuit in accordance with RS 422A It enables the long distance transmission The output signal of a photoelectronic sensor must be connected to a general input signal arbitrary of the robot controller In the case of vision tracking please refer to the instruction manual of network vision sensor The precision with which workpieces can be grabbed is different from the repeatability at normal transportation due to the conveyer speed sensor sensitivity vision sensor recognition accuracy and other factors The value above should only be used as a guideline The sample program doesn t correspond to the RV 5 axis robot 8 36 Tracking Specifications and Restriction matter 9 Operation Procedure 9 Operation Procedure This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750 D CR751 D series CRnD 700 series 1 Start of operation Connection of Equipment Chapter 10 explains installation of option cards and connection of an encoder Parameter Setting Refer to Chapter 11 Chapter 11 explains assignment of signals and setting of parameters related to tracking to allow an external device to control a robot Sample Robot Programs Refer to Chapter 12 Chapte
111. es by itself rather than via instructions from an external device Table 6 1 List of Dedicated Input Output Parameters Input name output name parameter name Explanation Setting Example 1 Stop pausing STOP or STOP2 Input Stop a program Output Output program standby status 10000 1 Servo OFF servo ON disabled SRVOFF Input Turn the servo off Output Output servo ON disabled status 10011 1 Error reset error occurring ERRRESET Input Cancel error status Output Output error status 10009 1 Start operating START Input Start automatic operation Output Output program running status 10006 1 Servo ON turning servo ON SRVON Input Turn the servo on Output Output servo on status 10010 0 Operation right operation right enabled IOENA Input Enable disable operation right of external signal control Output Output external signal control operation enabled status 10005 1 Program reset program selectable SLOTINIT Input Initiate a program The program execution returns to the first step Output Output a status where program No can be changed 10008 1 General output signal reset OUTRESET Input Reset a general output signal 10015 1 User specification area 1 USRAREA Output an indication that the robot is in an area specified by a user Set the start number and end number 1 1 in th
112. ess column Click OK button And click write button on Ethernet setting screen Ethernet setting Lesm nidiqag Online Eee Line and Device Device List COM1 RS232 bs Device IP Address o Server Packet Type i o A gt Double click COM3 bd 0 1 COM4 0 108 0 uuu 7 TOMS 7 opTis 192 168 0 6 10005 0 1 0 IP Address cOMe OPT16 192 168 0 7 10006 0 1 0 NETHSTP 2 or e aes mo s o o Port cou X OPT19 192 168 0 10 10009 0 1 0 NETPORT 3 Protocol CPRCE12 Communication destination IP address for Communication Setting Server real time external control command NETMODE 2 IP address 1 MxXTCOM1 192 168 0 2 TP address NETIP Cream Packet Type IP address 2 MXTCOM2 192 168 0 3 Sub net mask NETMSK 255 255 255 0 CTERME12 IP address 3 MXTCOM3 192 168 0 4 Timeout MxXTTOUT 1 SS h Ceon Cwe C o cancel Turn on robot controller s power supply again to make the set parameter effective 2 Open B1 program using T B Set the controller mode to MANUAL Set the T B to ENABLE O P T B Up DISABLE Down ENABLE e 7 a Lamp lighting T B rear 3 Press one of the keys example EXE key while the lt TITLE gt screen is displayed The lt MENU gt screen will appear Ver S3 lt MENU gt 1 FILE EDIT 2 RUN COPYRIGHT C 2011 MITSUBISHI ELEC 4 ORIGIN BRK Anis CORPORATION ALL RIGHTS RESE 1 20Rem 136320 2 RUN 0
113. eviation cece eects ee enneee ee eneee ee eeeeeetieeeee teases sieeeeesiaeeeeee 1 4 tE system that Canrachieve yc an E ETE E ete et ane EIEEE 1 5 Part 2 System Configuration and Setting CR750 Q CR751 Q series CRnQ 700 series suaps slubEDua E cacies inet eee saci tacea see eteauicagecmuSeast lt uesuaces subeeaan ences cacks ieee scensencedacseneee sheneecenseeanceesce ese 1 6 2 System Configuratio otitis lee ioiei eenen ieia dheri Enn ad eiaa beieri ein iene lees 2 6 2 1 o COMPONENtS it t nee a Aarne a a ee aa a 2 6 2 1 1 Robot controller enclosure products ccceeceeeecceceeeeeeeeeeaeeeeeeeeeeecancaeceeeeeeesensucaeeeeeeeeeeensaees 2 6 2 1 2 Devices Provided by CUStOMETS ecccceeeeteeeeeteneeeeeetneee settee eetaeeeeetaeeseecaeeeseecaeeeesenaeeeesenas 2 6 2 2 Example of System Configuration 0 cect eeerre retire erties aiaei aiee ii eidar ia 2 9 2 2 1 Configuration Example of Conveyer Tracking Systems cccccceeceeeeeeeeeeeeseeeeeeeteeaeeeteeaeees 2 9 2 2 2 Configuration Example of Vision Tracking Systems 00 ccccceeeeeeeeeeneeeeeeneeeseeeeeeseeeeeeeeeaaees 2 10 3 Speciicationiciiven tne alee ee ni ee kee dave ieee ead aati 3 11 3 1 Tracking Specifications and Restriction matter cecececeeeeee etter erent esse eens ee teeeeeeneeeeetneeeee 3 11 4 Operation Procedure wic icieractttanaeiie ee itai ieda a andes dy a nave i aii a E a ieat 4 12 5 Connection of Eq
114. f PUP1 and PUP2 in the Table 16 1 List of Adjustment Variables in Programs for change of rise distance 20 3 4 The robot is too speedy and drops the work Since the robot s acceleration and deceleration are speedy drop the work adjustment is necessary Refer to the adjustment variable of TPAC1 to PAC3 1 and TPAC11 to PAC13 in the Table 16 1 List of Adjustment Variables in Programs for the adjustment method of the acceleration and deceleration In such a case improvement example 20 105 20 Troubleshooting 20 3 5 20 3 6 20 106 Restore backup data to another controller The status variable P_EncDIt is not saved in the backup data from tracking system robot controller To generate the value of P_EncDIt execute the P_EncDIt MENCNO PY10ENC command of Program A by step forward Moving distance per one pulse Circle movement in tracking Screw fastening and decoration on the work etc are available in the tracking system Here explain the example which draws the circle on the basis of the adsorption position lt Conditions gt The adsorption position taught by Program C is the starting point of the circle The offset from the adsorption position of pass and end position of circle decided as follows POF 1 50 50 0 0 0 0 0 0 0 0 Relative distance to pass position from adsorption position POF2 0 100 0 0 0 0 0 0 0 0 Relative distance to end position from adsorption position Crea
115. ference position data gt can be omitted Specify the origin position of position data to be followed during the tracking mode lt Encoder logic number gt can be omitted This is a logic number indicating the external encoder that performs tracking operation 1 is set when this argument is omitted Setting range 1 to 8 Example 1 TrBase PO Specify the workpiece coordinate origin at the teaching position 2 TrRd P1 M1 MKIND _ Read the workpiece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose position measured by a sensor is P1 and encoder value at that time is M1 4 Mvs P2 Setting the current position of P1 as P1c make the robot operate while following workpieces with the target position of P1c P_Zero PO P2 5 HClose 1 Close hand 1 6 Trk Off End the tracking operation Explanation e Specify the workpiece coordinate system origin during the teaching operation and the logic number of an external encoder used in tracking operation e If an encoder logic number is omitted the previously specified value 1 is set e The reference position data and encoder number are set to their initial values until they are specified by the TrBase instruction or the Trk On instruction The initial value is P_Zero for the reference position data and 1 for the encoder number e Describes the relationship of TrBase and Trk and Mvs P2 Origin of tracking Search area of Vision sensor Wo
116. for the explanation of state variable M_Enc Please refer to Detailed Explanations of Functions and Operations for how to check the status variable M_Enc 1 2 3 4 1 2 3 4 Tracking Workpiece judgement distance TRCWDST 1 integer Distance to judge that the same workpiece is being tracked mm The sensor reacts many times when the workpiece with the ruggedness passes the sensor Then the robot controller judged that one workpiece is two or more pieces The sensor between values mm set to this parameter does not react after turning on the sensor 5 00 Tracking Parameter Setting 11 47 12 Sample Robot Programs Part 4 Tracking Control common function between series Take note that there are some aspects which differ between CR750 Q CR751 Q CRnQ 700 series and CR750 D CR751 D CRnD 700 series 12 Sample Robot Programs This chapter explains the structure of the sample robot programs Two types of sample robot programs are provided for conveyer tracking and for vision tracking Their program structures are shown in Table 12 1 List of Sample Robot Programs Conveyer Tracking and Table 12 2 List of Sample Robot Programs Vision Tracking respectively Refer to RT ToolBox2 Robot Total Engineering Support Software Instruction Manual for how to install programs to the robot controller Table 12 1 List of Sample Robot Programs Conveyer Tracking Program name
117. gnex for operation of In Sight Explorer Tasks 14 57 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 3 Paste appendix calibration seat to Mitsubishi robot tool manual for EasyBuilder on the conveyer Paste calibration seat within the field of vision checking the live images of In Sight Explorer With this operation encoder data is acquired Robot Robot movement of range Calibration seat Conveyer flow Camera for vision sensor Figure 14 2 Pasting Calibration seat adi p E ild G Eile Edit View Image Sensor System Window Help MaE A E eE A EAE AEEA A RACEN PA HOw S6asar pa E Help Results Links 1 0 TestRun i cet Connected ee v A ajetun j 2 Set Up Tools alsam mae rS Locate Part The Set Up Image step is used to acquire or load an image adjust the In Sight sensor s acquisition settings and if your application requires results in real world units such as millimeters or inches you can calibrate the image s pixel coordinates e Acquiring or Loading an Image e Adjusting the Edit Acquisition Settings e Calibrating the Image to Real World Units Offline Edit Acquisition Settings Calibrate Image to Real World Units Trigger Camera Calibration Type A Classic Orientat Trigger Delay msec 2 None ssic Orientation Trigger Interval msec Load Images from P Exposure msec Auto Exposure Disabled Expo
118. gnment of signals and setting of parameters related to tracking to allow an external device to control a robot Sample Robot Programs Refer to Chapter 12 Chapter 12 explains functions related to supplemental sample programs Calibration of Conveyer and Robot Coordinate Systems A1 program Refer to Chapter 13 Chapter 13 explains how to calculate the amount of robot movement per encoder pulse Calibration of Vision Coordinate and Robot Coordinate Systems B1 program Refer to Chapter 14 Chapter 14 explains how to display the position of a workpiece recognized by the vision sensor in the robot coordinate system Workpiece Recognition and Teaching C1 program Refer to Chapter 15 Chapter 15 explains how to calculate the relationship between the position of a workpiece recognized by the vision sensor and the position at which the robot grabs the workpiece Teaching and Setting of Adjustment Variables 1 Program Refer to Chapter 16 Chapter 16 explains how to make settings such that the robot can follow workpieces moving by ona conveyer and how to teach the robot origin and transportation destination at system start up Automatic Operation Refer to Chapter 18 In automatic operation the robot operates via commands from the conveyer control 3 End of operation Maintenance Refer to Chapter 19 Troubleshooting Refer to Chapter 20 4 12 Tracking Specific
119. gram M_EncL_ Latched Encoder data Function At the instant of receipt of a TREN signal for Q17EDPX module a stored encoder data is read Also 0 is written to clear the stored encoder data to zero Format Example lt Numeric Variable gt M_EncL lt logic encoder number gt M_EncLI lt logic encoder number gt lt Constants gt Terminology lt Numeric Variable gt Specify the numerical variable to substitute Available argument type Numeric value Integer Real number Double precision real number Position Character string Variable o Available lt logic encoder number gt can be omitted O Not available syntax error at input time O Available argument type Integer O Numeric value Real number Double precision real number member data Position O member data Error 4220 Specify the value of an logic encoder number Character string Constants O o Rounding o Rounding Error 4220 Variable o Available lt Constants gt O Not available syntax error at input time O Rounding Available argument type Numeric value O Rounding Integer Real number Double precision real number O member data Position member data Specify the stored encoder data to initial value zero or other Joint Error 4220 Character string
120. he model number Error output 9102 inside of range Check the encorder number Error output 9103 inside of range Ten time loop t Clear the global variable data t Acquire encoder data first time y Acquire the workpiece suction position y Acquire encoder data second time Store the acquiring data in a global variable C1 prg End 21 116 Chart of sample program 3 CM1 prg CM1 prg Start Processing for acquiring required data 4 Workpiece position writing processing CM1 prg End 21 Appendix lt Data acquisition gt Start The data acquired with program A prg and C prg is acquired Calculate the workpiece position X Y when the sensor is activated lt Data acquisition gt End lt Position data writing gt Start Check the photoelectronic sensor OFF Acquire the encoder number t Write data to the tracking buffer Check the photoelectronic senso ON lt Position data writing gt End Chart of sample program 21 117 21 Appendix 4 1 prg 1 prg Start lt Origin return gt Start Origin return Servo ON Y i Initialization Acquire the current position Track
121. he array variable Tracking data storage processing v lt Vision sensor recognition check gt Error output 9100 lt Tracking data storage processing gt Start y Calculate coordinates of workpiece in the robot coordinate system End conveyer position pattern front 1 front 2 left 1 left 2 right 1 right 2 y y y y y y Write the data Write the data Write the data Write the data Write the data Write the data in the buffer in the buffer in the buffer in the buffer in the buffer in the buffer 5 1 prg i Ge data storage processing gt End The same program as the conveyer tracking 21 124 Chart of sample program 21 Appendix 21 5 Sample Programs 21 5 1 Conveyer Tracking 1 A1 Prg 1 H Ver A3 7ARARR AHH ARR AE 2 Program for calibration between tracking robot and conveyer 3 Program type A1 prg 4 Date of creation version 2012 07 31 A3 5 COPYRIGHT MITSUBISHI ELECTRIC CORPORATION O A AA EAA EEE EAE PE 7 1 Register an encoder number to the X coordinate of the PE variable 8 Check the setting value 9 MECMAX 8 The maximum encoder number value for checking 10 If PE X lt 1 Or PE X gt MECMAX Then Error 9101 Encoder number out of range 11 MENCNO PE X Acquire the encoder number 12 2 Attach a marking sticker on th
122. he encoder input The position doesn t shift Adjustment completion The gap is constant confirmation 6 Adjustment by parameter TRADJ1 The position doesn t shift The gap is constant Adjustment completion confirmation 7 Adjustment by parameter TRPACL and TRPDCL End confirmation 1 1 Stop the conveyer 2 Confirm the disk installed in the rotary encoder has come in contact with the conveyer 3 Confirm whether the disk installed in the encoder rotates when the conveyer is made to work confirmation 2 1 Stop the conveyer 2 Put workpiece on the center of the vision view 3 In In Sight Explorer EasyBuilder click the Set Up Image from the Application Steps And set Calibration Type displayed in the lower right of the screen to None 4 Confirm workpiece is recognized by starting the job and the recognition result pixel level is correct example When the center of view is recognized the result of 320 240 is displayed when pixels are 640x480 vision sensors 5 Arrange workpieces on four corners 6 Confirm whether the workpieces put on four corners of the image is recognized similar and correctly In such a case improvement example 20 103 20 Troubleshooting confirmation 3 Stop the conveyer 2 Put workpiece on the center of the vision view 3 In In Sight Explorer EasyBuilder click the Set Up Image from the Appli
123. he next workpiece 213 If PosCq PX50CUR 0 And PX50CUR Y lt M50STT And PX50CUR Y gt M50END_ Then MY50STS 3 Outside the movement range 214 Endlf 215 Break 216 Case 3 Left side rear gt front 217 Case 5 Right side rear gt front 218 MS50STT MX50ST The start side has a negative value 219 M50END MX50ED 220 If PosCq PX50CUR 1 And PX50CUR X gt M50STT And PXS5OCUR X lt MS0END Then 221 MY50STS 2 Tracking possible 222 The processing to singular point of RH 3S HR 223 PTRST X P_CvSpd MBENCNO X MTRSTT 1000 224 PTRST PTRST P50FWCUR Position when beginning to follow as for workpiece 225 PTRED X P_CvSpd MBENCNO X MTREND 1000 226 PTRED PTRED P5O0FWCUR Position when having finished following as for workpiece 227 If PTRST Y gt P3HR Z And PTRST Y lt P3HR Z Then case the singular point area 228 If PTRST X lt P3HR Z And PTRED X lt P3HR Z Then MY50STS 2 The position of the work peace is OK from the singular point if previous 21 142 Sample Programs 21 Appendix 229 If PTRED X gt P3HR Z And PTRED X lt P3HR Z Then MY50STS 3 If the tracking end position is singular point neighborhood it is NG 230 If PTRST X gt P3HR Z And PTRST X lt P3HR Z Then MYSOSTS 3 If the tracking start position is singular point neighborhood it is NG 231 If PTRST X gt P3HR Z And PTRED X gt P3HR Z Then MY50STS 3 _ It is NG if passing over the singular point 232 En
124. hether conveyer tracking or vision tracking is used Please refer to Table 2 2 List of Devices Provided by Customers Conveyer Tracking and Table 2 3 List of Devices Provided by Customers Vision Tracking for further details Table 7 2 List of Devices Provided by Customers Conveyer Trackin Name of devices to be provided by customers Model Quantity Remark Robot part Teaching pendant R32TB R33TB or R56TB R57TB 1 Hand Hand sensor Used to confirm that workpieces are gripped correctly Provide as necessary Different models are used depending on the robot used Check the robot version and provide as Solenoid valve set Hand input cable 260 e Remak column necessary Air hand interface 2A RZ365 or 1 CRnQ 700 CRnD 700 series controller 2A RZ375 Provide as necessary Calibration jig This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for E calibration tasks It is recommended to use the jig if high precision is required Conveyer part Conveyer Encoder with encoder Line driver output Confirmed operation product Omron encoder E6B2 CWZ1X 1000 or 2000 Encoder cable Twisted pair cable with the shield CRnD 700 series controller 4 Recommended connector for encoder input terminal 10120 3000PE plug made by 3M 10320 52F0 008 shell made by 3M 5V power supply 5 VDC 10 For the encoder Ph
125. iece positions The features of this function are described below 1 It is possible to follow lined up workpieces moving on a conveyer while working on them conveyer tracking making use of photo electronic sensors 2 Itis possible to follow workpieces that are not in a line moving on a conveyer while working on them even in the case of different types of workpieces vision tracking combined with vision sensors 3 It is possible to follow changes of movement speed due to automatic calculation of conveyer movement speed 4 Tracking function can be easily achieved by using Mitsubishi s robot command MELFA BASIC V 5 System construction is made easy by use of sample programs What is the Tracking Function 1 1 1 Overview 1 2 Applications Tracking is primarily intended for applications such as the following 1 Transfer of processed food pallets Figure 1 1 Example of Processed Food Pallet Transfer 2 Lining up parts Figure 1 2 Example of Parts Lineup 3 Assembly of small electrical products Figure 1 3 Example of Small Electrical Products Assembly 1 2 Applications 1 Overview 1 3 Contents of this manual This manual explains the operation procedure when the customer use conveyer tracking system and vision tracking system using Mitsubishi robot The robot model are CR750 Q CR751 Q CRnQ 700 series and CR750 D CR751 D CRnD 700 series however there are H W differences Please read as following
126. ignal 9A Empty 10A a Empty x 1B CNUSR2 15 CNUSR2 15 SG Control power supply 0 V GND 2B CNUSR1 46 CNUSR13 4 LAL1 terminal of differential encoder Input A phase signal 3B CNUSR1 47 CNUSR13 6 LBL1 7 terminal of differential encoder Input CH1 B phase signal 4B CNUSR1 48 CNUSR13 10 LZL1 7 terminal of differential encoder Input Z phase signal 5B CNUSR2 40 CNUSR2 40 SG Control power supply 0 V GND 6B CNUSR2 46 CNUSR2 46 LAL2 7 terminal of differential encoder Input A phase signal 7B CNUSR2 47 CNUSR2 47 LBL2 7 terminal of differential encoder Input CH2 B phase signal 8B CNUSR2 48 CNUSR2 48 LZL2 I terminal of differential encoder Input Z phase signal 9B Empty 10B E Empty Z 21 114 Expansion serial interface Connector Pin Assignment 21 Appendix 21 4 Chart of sample program The chart of the sample program is shown below 21 4 1 Conveyer tracking 1 A1 prg Check encoder number Error output 9101 inside of range Acquire encoder data first time t Acquire the current position first time t Acquire encoder data second time Y Acquire the current position second time t P_ENCDLT calculation processing y Store caluculation data in P_LENCDLT A1 prg End Chart of sample program 21 115 21 Appendix 2 C1 prg Check t
127. ile tracking not the vision sensor The tracking is done with an encoder of voltage output open collector Manual BFP A3300 for details System that can achieve 1 5 2 System Configuration Part 2 System Configuration and Setting CR750 Q CR751 Q series CRnQ 700 series 2 System Configuration 2 1 Components 2 1 1 Robot controller enclosure products The product structure of the tracking functional relation enclosed by the robot controller is shown in the Table 2 1 Table 2 1 List of Configuration in the tracking functional related product Product name Model name Remark Tracking Function INSTRUCTION MANUAL BFP A8664 This manual is included in instruction manual CD ROM attached to the product Sample program 2 1 2 Devices Provided by Customers Please refer to 12 Sample Robot Programs for the sample robot program When configuring the system the customers must have certain other devices in addition to this product The table below shows the minimum list of required devices Note that different devices are required depending on whether conveyer tracking or vision tracking is used Please refer to Table 2 2 List of Devices Provided by Customers Conveyer Tracking and Table 2 3 List of Devices Provided by Customers Vision Tracking for further details Table 2 2 List of Devices Provided by Customers Conveyer Trackin Name of devices to be provided by custo
128. ing Input name output name Explanation Example arameter name a p 1 Stop pausing Input Stop a program STOP or STOP2 Output Output program standby status Servo OFF servo ON disabled Input Turn the servo off SRVOFF Output Output servo ON disabled status Error reset error occurring Input Cancel error status ERRRESET Output Output error status Start operating Input Start automatic operation START Output Output program running status Servo ON turning servo ON Input Turn the servo on SRVON Output Output servo on status Operation right operation right Input Enable disable operation right of external signal control enabled IOENA Output Output external signal control operation enabled status Program reset program Input Initiate a program The program execution returns to the selectable first step SLOTINIT Output Output a status where program No can be changed General output signal reset Input Reset a general output signal OUTRESET User specification area 1 Output an indication that the robot is in an area specified by a USRAREA user Set the start number and end number 1 1 in the Setting value column means not set 11 2 Operation Parameters Table 11 2 List of Operation Parameter lists the setting items of parameters required to operate the robot at the optimal acceleration deceleration Table 11 2 List of Operation Parameter
129. ing Parameter Settin Number of elements Explanation Value set at factory shipping Tracking mode TRMODE 1 integer Enable the tracking function Please set it to 1 when you use the tracking function 0 Disable 1 Enable 0 Encoder number allocation EXTENC 8 integers Set connection destinations on the connector for encoder numbers 1 to 8 Parameter elements correspond to encoder number 1 encoder number 2 encoder number 8 from the left In addition the encoder physics numbers 3 8 are the reservation number for extension At present it cannot be used Encoder physics number Connection channel Standard CH1 Standard CH2 Sloti1 CH1 Slot1 CH2 Slot2 CH1 Slot2 CH2 Slot3 CH1 Slot3 CH2 Reservation number for future extension I NIDIA BR Go dh The value of the encoder which wired the channel 1 in case of the standard encoder input connector CNENC for the robot controller is equipped with the encoder cable with initial setting The value of the encoder which wired the channel 2 by the status variable M_Enc 1 M_Enc 3 M_Enc 5 and M_Enc 7 It can confirm by the status variable M_Enc 2 M_Enc 4 M_Enc 6 and M_Enc 8 It is convenient to check the status variable M_Enc when determining the setting value of the EXTENC parameter Please refer to 19 1 2 List of Robot Status Variables
130. irst argument of parameter TRBUF lt Encoder number can be omitted Specify a variable that contains values of external encoder numbers read from the buffer Example 1 Tracking operation program 1 TrBase PO Specify the workpiece coordinate origin at the teaching position 2 TrRd P1 M1 MK Read the workpiece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose measured position is P1 and encoder value at the time of measurement is M1 4 Mvs P2 Setting the current position of P1 as P1c make the robot operate while following workpieces with the target position of P1c P_Zero PO PW2 5 HClose 1 Close hand 1 6 Trk Off End the tracking operation 2 Sensor data reception program 1 LOOP 2 If M_In 8 0 Then GoTo LOOP Jump to LOOP if input signal No 8 to which a photoelectronic sensor is connected is OFF 3 M1 M_Enc 1 Acquire data of encoder number 1 at the time when input signal No 8 is turned on and store it in M1 4 TrWrt P1 M1 MK Write workpiece position data P1 encoder value M1 at the time an image is acquired and model number MK in the buffer Explanation e Read the workpiece position robot coordinates encoder value model number and encoder number stored by the TrWrt instruction from the specified buffer e Ifthe TrRd instruction is executed when no data is stored in the specified buffer Error 2540 There is no read data occurs MELFA BASIC V Instructions 19 93 19
131. is 1 mm when the conveyer speed is 50 mm s Setting value 2 0 1 50 100 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 Tracking acceleration TRPACL 8 real numbers X Y Z A B C L1 L2 Tracking acceleration Acceleration during execution of tracking movement Tracking deceleration TRPDCL 8 real numbers X Y Z A B C L1 L2 Tracking deceleration Deceleration during execution of tracking movement List of Parameters Related to Tracking 21 109 21 Appendix 21 2 Shine of changing parameter When the tracking function is used the parameter need to be changed depens on operation phase List of the parameter is shown as follow List 21 2 List of the user shine of changing parameter Parameter name Power on Setting orgin JOG operation Attach option Connection with peripherals ENCUNIT1 ENCUNIT2 ENCUNIT3 In case of robot programming EXTENC 21 110 Shine of changing parameter es is set to have installed Q173DPX unit into 5 I O slot of the base unit By setting it incremental three encoders connected with Q173DPX unit are recognized physical encoder number 1 to 3 It makes tracking function valid By being valid incremental encoder value can be got About EXTENC because initial value is 1 2 1 2 1 2 1 2 physical encoder number 1 and 2 are allocated to logic encoder physical encoder number3 number 1 to 8 At this time the encoder conne
132. ision sensor initialization gt W Start Calculate the robot origin when the vision sensor recognizes workpieces 21 Appendix 7 opening communication gt Start v Close communication line Y Open communication line and log on t Load the vision program Calculate the amount of conveyer movement from vision sensor recognition to workpiece teaching AA Calculate theworkpiece position recognized by the vision sensor into the robot area y Calculate the vectors specifying the center of gravity of the vision sensor and grabbing position the calculated workpiece a range of the forecast Yes lt vision sensor T End Chart of sample program 21 123 t lt Opening communication gt Ket End Error output 9101 21 Appendix lt Vision sensor recognition check gt Start Calculate the difference between last time and the current encoder value the timing in which t image is acquired now No y Imaging request encoder value acquisition Is the vision sensor logged on Acquire information of the workpiece that the vision sensor recognized many are the nun of recognized workpieces 0 pieces Excluding 0 pieces Preserve each element of the recognition data in t
133. itted number of encoders 1to8 Number of encoder 1to8 number of encoders 1to8 buffer No 1 to The first argument of parameter TRBUF number of encoders 1to8 number of encoders 1to8 number of encoders 1to8 number of encoders 1to8 mechanism No 1to3 External encoder data R W External encoder data can be rewritten If this state variable does not set parameter TRMODE to 1 the value becomes like 0 The stored encoder data X Possible to use from R1 and S1 X 0 always returns in S1 Amount of robot movement per encoder pulse R W Double precisio n real number R W Position This state variable is made by sample A1 program Number of data items stored in the tracking buffer Mna Conveyer speed mm rad sec Position The maximum value of external encoder data Double precisio n real number The minimum value of external encoder data Double precisio n real number External encoder speed Unit pulse sec Single precision real number Tracking operation status of specified mechanism Integer 1 Tracking 0 Not tracking R W Both reading and writing are permitted Double precisio n real number MELFA BASIC V Instructions 19 87 19 Maintenance of robot program 19 1 3 List of Functions Table 19 3 List of Functions Function name Function Result Poscq lt position gt Check whether the specified position is within the movement Integer range 1 Within the move
134. justment variables in the program 16 81 16 Teaching and Setting of Adjustment Variables 1 Program Conveyer Workpiece movement direction PITT Tt i When the conveyer is placed at the right unde the robot and the workpiece moves from the rear to front the X coordinate of PTN is 5 and the operation range of tracking is set at ront of the robot PRNG I X Y Z 65 200 230 lt Singular Adjustment Point gt The robot can not pass over the singular adjustment point while the tracking operation Conveyer Workpiece movement direction PITT TTT Tt S When the conveyer is placed at the right unde the robot and the workpiece moves from the rear to front the X coordinate of PTN is 5 land the operation range of tracking is set at backward the robot PRNG I amp X Y Z 230 95 75 Figure 16 2 Relationship of singular point neighborhood and tracking area 16 82 Setting of adjustment variables in the program 16 Teaching and Setting of Adjustment Variables 1 Program Workpiec amp ae Ato U EEN _movementidirection When the conveyer is placed in front of the robot and the workpiece moves from the right to left the X coordinate of PTN is 1 PRNG X Y Z 500 300 400 Conveyer movement direction ssec troos Sth Gh ae 40 ye When the conveyer is placed on the left side of the robot and the workpi
135. k the status variable M_Enc when determining the setting value of the EXTENC parameter Please refer to 19 1 2 List of Robot Status Variables for the explanation of state variable M_Enc Please refer to Detailed Explanations of Functions and Operations for how to check the status variable Tracking TROWDST 1 Distance to judge that the same workpiece is being Workpiece integer tracked mm judgement The sensor reacts many times when the workpiece distance with the ruggedness passes the sensor Then the robot controller judged that one workpiece is two or more pieces The sensor between values mm set to this parameter does not react after turning on the sensor To set the measure of workpieces flow is recommended Parameter name Parameter Tracking Parameter Setting 6 27 6 Parameter Setting 6 3 2 Sequencer CPU Parameter Setting It is necessary to set multi CPU related parameters for both the sequencer CPU and robot CPU In order to use the sequencer link function a Multiple CPU setting Set the number of CPU units b I O assignment Select I O units and or Intelligent units c Control PLC setting Set the CPU Unit numbers which control the Q173DPX unit The setting procedure of the parameter is as below The following explanation assumes the case that attached Q173DPX unit to the fifth slot of baseboard
136. king robot operation program 3 Program type 1 prg 4 Date of creation version 2012 07 31 A3 5 MITSUBISHI ELECTRIC CORPORATION 6 FRR ARATE EEE AEH PEPE PEPE 7 8 t Main processing 9 SOOMAIN 10 GoSub S9OHOME Origin return processing 11 GoSub S10INIT Initialization processing 12 LOOP 13 GoSub S20TRGET Tracked workpiece takeout processing 14 GoSub S30WKPUT Workpiece placing processing 15 GoTo LOOP 16 End 17 18 Initialization processing 19 S10INIT 20 Speed related 21 Accel 100 100 Acceleration deceleration setting 22 Ovrd 100 Speed setting 23 Loadset 1 1 Optimal acceleration deceleration specification 24 OAdi On Turning optimal acceleration deceleration ON 25 CntO 26 Clir1 27 HOpen 1 28 Initial value setting 29 TrCir1 Clear tracking buffer 1 30 MWAIT1 0 Clear workpiece wait flag 1 31 Multitask startup 32 M O9 PWK X Model number specification 33 If M_Run 2 0 Then Confirmation of conveyer 1 multitasking 34 XRun 2 CM1 1 Multitasking setting 35 Wait M_Run 2 1 36 Endif 37 Priority PRI X 1 38 Priority PRI Y 2 39 Return 40 41 Tracked workpiece takeout processing 42 S20TRGET 43 Tracking buffer check 44 LBFCHK 45 If M_Trbfct 1 gt 1 Then GoTo LREAD If a workpiece exists 46 MovP1 Move to the pull off location 47 MWAIT1 0 48 GoTo LBFCHK 49 Workpiece data acquisition
137. le The manual pulse generator incremental synchronous encoder phases A B and tracking enable signal does not turn ON without setting Q173DPX in the system setting Input connector of the Manual pulse generator Incremental 3 PULSER connector synchronous encoder Module mounting lever Used to install the module to the base unit Module fixing screw hole Hole for the screw used to fix to the base unit M3x12 screw Purchase from the other supplier Figure 5 1 Externals of Q173DPX unit 5 14 Preparation of Equipment 5 Connection of Equipment 2 Dip switch By setting the dip switch the condition of the tracking enable signal is decided List 5 1 Item of dip switch Application Detection setting of TREN1 signal Dip switch 1 SW1 SW2 OFF ON ON TREN is detected at leading edge of TREN signal Dip switch 2 7 TREN is detected at trailing edge of TREN signal Detection setting of TREN2 signal Dip switch 3 SW3 SW4 OFF ON ON Note 1 Dip switches TREN is detected at leading edge of TREN signal Dip switch 4 TREN is detected at trailing edge of TREN signal Detection setting of TREN3 signal Dip switch 5 SW5 SW6 OFF ON ON Factory default in OFF position TREN is detected at leading edge of TREN signal Dip switch 6 TREN is detected at trailing edge of TREN signal Module fixing projection Projection used to fix to the base unit Serial number displa Display the serial numbe
138. line type 24V 4 d d TREN2 TREN2 OV 24V J ee a A OV External power suppl Photoelectric P ppy sensor Example of 3 line type Figure 5 6 the encoder for the conveyer and the wiring diagram of the encoder cable Please refer to Figure 5 2 Pin assignment of the PULSER connector with the pin crack of the PULSER connector that arrives at the unit Connection of Equipment 5 21 5 Connection of Equipment The wiring example by the thing is shown below Please note that the connector shape is different depending on the controller Figure 5 7 Wiring example CR75x Q CRnQ 700 series controller 5 22 Connection of Equipment 5 Connection of Equipment 5 2 3 Connection of Photoelectronic Sensor If a photoelectronic sensor is used for detection of workpieces connect the output signal of the photoelectronic sensor to a tracking enable signal of the Q173DPX unit In this section a connection example where the photoelectronic sensor signal is connected to the tracking enable signal is shown in Input circuit external power suppl Controller p p PPly Connects to the tracking enable signal of the Q173DPX unit _ Photoelectric sensor SS SY ASS SS SS Workpiece Figure 5 8 Photoelectronic Sensor Arrangement Example Q173DPX PULSER connector Photoelectric sensor Example of 3 line type External power supply Figure 5 9 Photoelectronic Sensor Co
139. lt System Conniguration saranen ea aA beh a A a a a he eta a teeta dey 7 31 LEV 2 COMPOMENIS znae tet a a todas feds tates Be heed a eou Th gre sustains tages eas ets 7 31 7 1 1 Robot controller enclosure Product ccccccceceeeecceceeeeeeeeeenaeeeeeeeeeseeecaeeeeeeeeeseteeneeeeeeeeetees 7 31 7 1 2 Devices Provided by CUStOMES cccceeeceeee inaen aaa i eeii EA Aaa i Rea 7 31 7 2 Example of System Configuration erroria eaea i a NAEL a rE EAA EEA 7 34 7 2 1 Configuration Example of Conveyer Tracking Systems essseseeeseerreserrrssrrrrssrrrrssrerrssrerns 7 34 7 2 2 Configuration Example of Vision Tracking Systems 0 cc ccceeeeeeeeeeeeeeeeeneeeeteeeeeeteeaeeeeeenaees 7 35 Gis SPCCINICAUOM snert i it vod hats E sale ol cena ayer eased ma tiaras a theron ea hae Shade feed Mat eean 8 36 8 1 Tracking Specifications and Restriction matter 0 cee eeeeee etter erties ee eieeeeeeieeeeeeeeeeetneeeeee 8 36 9 Operation Procedure aaide eea tavern a ae Uihseran ede vert tains heen ee alee 9 37 10 Connection of Equipment iarsna eea aa doe athe naked eee tae pn ceed eae eters cartels 10 38 10 1 Preparation of Equipment ccccccceceeecesecacce cece a ee a e a a a 10 38 10 2 Connection of Equipment preirata a a edna ven eee ae a a 10 38 10 2 1 Connection of Conveyer Encoder ssciicsrrissi ararat iaaea NTARE RALEA ARAARA 10 38 10 2 2 Installation of encoder cable ccccccccecceeeeeec
140. ment 2 are set Element 1 1 No connection O Basic base unit 7 Increase base unit Element 2 O 11 I O slot number This parameter is valid in the following software versions CRnQ 700 series Ver R1 or later third Q173DPX ENCUNIT3 The base unit number of the third Q173DPX unit element 1 that robot CPU manages and slot number element 2 are set Element 1 1 No connection O Basic base unit 7 Increase base unit Element 2 O 11 I O slot number This parameter is valid in the following software versions CRnQ 700 series Ver R1 or later 6 26 Tracking Parameter Setting 6 Parameter Setting Value set Explanation at factory element shipping Encoder EXTENC 8 Set connection destinations on the connector for 1 2 3 4 number integers encoder numbers 1 to 8 5 6 7 8 allocation Parameter elements correspond to encoder number 1 encoder number 2 encoder number 8 from the left Setting value is iuput encoder physics number from below list In case of CR750 D CR751 D and CRnD 700 series CH1 and CH2 of slot 1 to 3 are reservation At present it cannot be used In case of CR750 Q CR751 Q CRnQ 700 series Encoder Connection channel physics CR750 Q CR751 Q number CRnQ 700 series 1 channel of Parameter ENCUNIT1 2 channel 3 channel 1 channel of Parameter ENCUNIT2 2 channel 3 channel 1 channel of Parameter ENCUNIT3 8 2 channel It is convenient to chec
141. ment range 0 Outside the movement range TrWcur lt encoder number gt Obtain the current position of a workpiece Position lt position gt lt encoder value gt lt number of encoders gt 1 to 8 TrPos lt position gt Acquire the coordinate position of a workpiece being tracked Position Trk On PO P1 1 M1 PC2 TrPos P2 PC2 above is obtained in the following manner PC1 P1 P_EncDit M_Enc M1 The current position of P1 PC2 PC1 P_Zero P0 P2 19 1 4 Explanation of Tracking Operation Instructions The instructions related to tracking operations are explained in details below The explanations of instructions are given using the following format Function Describes the function of an instruction Format Describes the entry method of arguments of an instruction lt gt indicate an argument indicates that entry can be omitted O indicate that space is required Term Describes meaning range and so on of an argument Example Presents statement examples Explanation Provides detailed function descriptions and precautions 19 88 MELFA BASIC V Instructions 19 Maintenance of robot program TrBase tracking base Function Specify the workpiece coordinate system origin during the teaching operation and the encoder logic number of an external encoder used in tracking operation Format TrBase O lt Reference position data gt lt Encoder logic number gt Term lt Re
142. mers Model Quantity Remark Robot part Teaching pendant R32TB R33TB or 1 Hand R56TB R57TB Hand sensor Solenoid valve set Hand input cable See the Remark Used to confirm that workpieces are gripped correctly Provide as necessary Different models are used depending on the robot used Check the robot version and provide as column necessary Air hand interface 2A RZ365 or 1 CRnQ 700 CRnD 700 series controller 2A RZ375 Provide as necessary Calibration jig This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for E calibration tasks It is recommended to use the jig if high precision is required Encoder pulse unit Manual pulser input unit for motion controller Q173DPX More than This unit cannot be connected with two or more 1 robot CPU Please prepare for unit necessary in each robot CPU 2 6 Components 2 System Configuration Name of devices to be provided by customers Conveyer part Conveyer Encoder with encoder Voltage output open collector type Line driver output Confirmed operation product Omron encoder E6B2 CWZ1X 1000 or 2000 Encoder cable Recommended product 2D CBL05 2D CBL15 The Q173DPX unit supplies 5V power supply to the encoder Photo electronic sensor lt Used to synchronize tracking 24V power supply __ 24 VDC 10 For the Photo electronic sensor Encoder distri
143. n between the hand and surrounding equipment or hands or fingers becoming jammed if the hand falls Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable If the cap is not attached dirt or dust may adhere to the connector pins resulting in deterioration connector properties leading to malfunction Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET III cables Eye discomfort may be felt if exposed to the light SSCNET III employs a Class 1 or equivalent light source as specified in JISC6802 and IEC60825 1 Revision history Date of print Specifications No Details of revisions BFP A8664 BFP A8664 A The EC Declaration of Conformity was changed Correspond to the EMC directive 2006 42 EC BFP A8664 B The tracking function is realized to SQ series BFP A8664 C The notes were added about physical encoder number List 1 1 and No 9 List 1 2 BFP A8664 D CR750 CR751 series controller were added The note was added to Trk command BFP A8664 E The explanation of vision was changed from MELFA Vision to In Sight Explorer for EasyBuilder Sample program for RH 3S HR was added The explanation of parameter TRPACL and TRPDCL was added Troubleshooting is enhanced BFP A8664 F The statement about trademark registration was added BFP A8664 G Table 21 3 Connectors CNENC CNUSR Pin Assignment was corrected
144. ne driver output is a data transmission circuit in accordance with RS 422A It enables the long distance transmission Please connect the output signal of a photoelectric sensor with the terminal TREN of the Q173DPX unit This input can be confirmed by the input signal 810th 817th In the case of vision tracking please refer to the instruction manual of network vision sensor The precision with which workpieces can be grabbed is different from the repeatability at normal transportation due to the conveyer speed sensor sensitivity vision sensor recognition accuracy and other factors The value above should only be used as a guideline The encoder connected with the third channel of the Q173DPX unit specified for parameter ENCUNIT3 cannot be used Voltage output open collector type is an output circuit with two output transistors of NPN and PNP The sample program doesn t correspond to the RV 5 axis robot Tracking Specifications and Restriction matter 3 11 4 Operation Procedure 4 Operation Procedure This chapter explains the operation procedure for constructing a conveyer tracking system and a vision tracking system using Mitsubishi Electric industrial robots CR750 Q CR751 Q series CRnQ 700 series 1 Start of operation Connection of Equipment Refer to Chapter 5 It explains Q173DPX manual pulser input unit preparation and the connection with the encoder Parameter Setting Refer to Chapter 6 Chapter 6 explains assi
145. ng 23 Loadset 1 1 Optimal acceleration deceleration specification 24 OAdl On Turning optimal acceleration deceleration ON 25 CntO 26 Clr 27 HOpen 1 28 Initial value setting 29 TrCir1 Clear tracking buffer 1 30 MWAIT1 0 Clear workpiece wait flaq 1 31 The processing to singular point of RH 3S HR 32 MTUPPOS P3HR X Move time to midair position measurement time that the slowest J1 axis rotated from 225 to 225 degrees 33 MTWKPOS 1000 PUP1 Y P3HR Y Move time to suction position calculation from speed and move amount of J3 34 MTWKUP 1000 PUP1 Z P3HR Y Move time to midair position calculation from speed and move amount of J3 35 MTRSTT MTUPPOS Move time to midair position 36 MTREND MTUPPOS MTWKPOS PDLY1 X 1000 MTWKUP Necessary time for tracking before it passes over singular point 37 The processing to singular point of _RH 3S HR 38 Multitask startup 39 M_O9 PWK X Model number specification 40 If M_Run 2 0 Then Confirmation of conveyer 1 multitasking 41 XRun 2 CM1 1 Multitasking setting 42 Wait M_Run 2 1 43 Endlf 44 Priority PRI X 1 45 Priority PRI Y 2 46 Return 47 48 Tracked workpiece takeout processing 49 S20TRGET 50 Tracking buffer check 51 LBFCHK 52 If M_Trbfct 1 gt 1 Then GoTo LREAD If a workpiece exists 53 Mov P 1 Move to the pull off location 54 MWAIT1 0 Sample Programs 21 139 21
146. ng operation Install safety fences Stipulate a specific signaling method to be used among related workers when starting operation Operation start signal As arule maintenance work should be performed only after turning OFF the power and other workers should be notified that maintenance is being performed by affixing a sign to the START switch etc Indicate that maintenance work is being performed Before starting operation conduct an inspection of robots EMERGENCY STOP buttons and any other related devices to ensure that there are no abnormalities Inspection before starting operation The following precautions are taken from the separate Safety Manual Refer to the Safety Manual for further details A Caution A Caution A Caution A Caution A Caution A Caution A Warning A Warning A Caution A Warning A Caution A Caution A Caution Use robots in an environment stipulated in the specifications Failure to observe this may result in decreased reliability or breakdown Temperature humidity atmosphere noise environment etc Only transport robots in the manner stipulated Failure to observe this may result in bodily injury or breakdown if the robot is dropped Install and use the robot on a secure and stable platform Positional displacement or vibrations may occur if the robot is unstable Ensure that cables are kept as far apart from noise sources as possible Positional displacement o
147. ng to Acceleration until moving to the the workpiece release position are set workpiece release position 5 X The acceleration until moving to the Deceleration until moving to the workpiece release position 1 to 100 workpiece release position 10 Y The deceleration until moving to the X Y Z A B C 5 10 0 0 0 0 workpiece release position 1 to 100 PAC13 When operating by the release of workpiece the When the following values are set acceleration and the deceleration when moving Acceleration until moving to the position toward the position on the workpiece are set on the workpiece 100 X The acceleration until moving to the position Deceleration until moving to the on the workpiece 1 to 100 position on the workpiece 100 Y The deceleration until moving to the position X Y Z A B C on the workpiece 1 to 100 100 100 0 0 0 0 PDLY1 Set the suction time When setting 0 5 second for the sucking X Suction time s time X Y Z A B C 0 5 0 0 0 0 0 PDLY2 Set the release time When setting 0 3 second for the release X Release time s time X Y Z A B C 0 3 0 0 0 0 0 POFSET When the adsorption position shifts the gap can be corrected Set the correction value The direction of the correction is a direction of the hand coordinate system Please decide the correction value after changing the job mode to Tool pushing the X key an
148. nnection Example 6th General Input Signal is Used Note The external power supply and photoelectric sensor must be prepared Connection of Equipment 5 23 5 Connection of Equipment The tracking enable signal is connected to the robot input signal as follows List 5 3 List with signal crack of tracking enable signal TREN Encoderenvsics Connection channel Robot Input signal number Berea CR750 Q CR751 Q series CRnQ 700 series 1 channel of Parameter l ENCUNIT1 FL 2 2 channel 3 3 channel 4 1 channel of Parameter ENCUNIT2 5 2 channel 6 7 8 37 channel 1 channel of Parameter ENCUNIT3 2 channel 5 24 Connection of Equipment 6 Parameter Setting 6 Parameter Setting This chapter explains how to set dedicated input output signals that play the role of interface between a robot and an external device e g a Programmable Logic Controller and parameters related to the tracking function Please refer to Detailed Explanations of Functions and Operations for how to set the parameters 6 1 Dedicated Input Output Parameters Table 11 1 List of Dedicated Input Output Parameters lists the setting items of dedicated input output parameters used to operate the robot via instructions from an external device Set the signal numbers according to your system using the setting values in the table as reference It is not necessary to set these parameters if the robot operat
149. number value for checking 10 If PE X lt 1 Or PE X gt MECMAX Then Error 9101 Encoder number out of range 11 MENCNO PE X Acquire the encoder number 12 2 Place the calibration sheet within the vision sensor recognition area 13 3 Check that the calibration sheet positions are correct by looking at vision images E ME1 M_Enc MENCNO Acquire encoder data first time 5 4 Specify the mark in three points or more by using Mitsubishi Robot Tool on In Sight Explorer 6 5 Move the calibration sheet until they are within the robot operation area 7 6 Move the robot hand to the position right at the center of mark 1 8 7 Acquire the robot present position by using In Sight Explorer 9 8 Acquire the position of the robot in three points or more repeating work 0 9 Click the Export button Then the calibration data can be made 1 10 Raise the robot arm ME2 M_Enc MENCNO Acquire encoder data second time 23 MED ME1 ME2 Calculate the difference of the encoder value 24 If MED gt 800000000 0 Then MED MED 1000000000 0 25 If MED lt 800000000 0 Then MED MED 1000000000 0 26 M_100 MENCNO MED 27 End E 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 21 134 Sample Programs 21 Appendix 3 C1 Prg 1 HHH Ver A3 7HARA AHA AAA HEE EP 2 Network vision tracking workpiece suction position registration program 3 Program type C1 prg 4 Date of creation version 2012 0
150. nveyer moves for 100 pulses the workpiece moves 50 mm 0 5 x 100 50 in the Y direction in the robot coordinate system When backing up the data of P_EncDIt is not backed up Please work referring to 20 3 5 Restore backup data to another controller when you restore data to another tracking system 13 4 When multiple conveyers are used Carry out the same operations as above when multiple conveyers are used as well but pay attention to the following points Example When using conveyer 2 encoder number 2 a Enter 2 for the encoder number specified for the X coordinate of the position variable PE in the program b Check the value of P_EncDIt 2 using RT ToolBox2 when confirming the data after operation Refer to RT ToolBox2 Robot Total Engineering Support Software Instruction Manual for how to check variable values using RT ToolBox2 Confirmation after operation 13 53 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program This chapter explains the tasks carried out by using B1 program B1 program only contains operations required when constructing a vision tracking system These operations are not necessary when constructing a conveyer tracking system Calibration of a vision sensor refers to converting the position of a workpiece recognized by the vision sensor to the
151. oint Ponts Port Deactiptinn Points Too Enabled Execution Time ms 10 Open the Settings tab screen from the Edit Tool and input IP address set to Robot IP address IP Address 192 168 0 1 Port 100094 Robot 1 11 Make the vision sensor online 14 60 Tasks 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 12 Move the calibration seat by starting the conveyer within the robot movement range 13 Move the robot to the position right above the first mark on the conveyer 14 Click Get position button in Edit Tool column of In Sight Explorer Confirm the current position of the robot was displayed in world X and world Y Edit Tool Point Pixel Row Pixel Column World X World Y World 40 000 EE E 4503801 Point 1 40 333 587 000 0000 0000 Point2 393 333 36 000 0 000 0 000 Point oo00 ooog E Worley Point aooo 0000 356 225 Point5 0 000 0000 Point 0 000 0000 Point 0 000 0 000 Point 0 000 0 000 15 Similarly move the robot hand to the mark of the second point and the third point and acquire the current position of the robot with Get position button of In Sight Explorer Edit Tool Point Pixel Row Pixel Column World X World Y Worldx PointO 40 000 36 333 450 380 356 225 216 76314 Point1 40 333 587 000 440 356 25 487 Point 393 333 36 000 216 763 336 456 World Point3 0 000 0 000 Point4 0000 0000 396 4664 Point5 0
152. on operator control panel connect the earth wire to grounding or the case and insert the ferrite core recommendation E04SR301334 SEIWA ELECTRIC MFG Encoder section power supply section for the encoders AC power customer preparation suppl w Robot arm Encoder AC line filter AC input side AC DC Chassis power ground supply Robot controller DC input side Ferrite l core Relay terminal Ferrite core pene Ferrite core e attachments l N Encoder cable customer preparation Figure 10 11 Example of noise measures of tracking system 10 44 Connection of Equipment 10 Connection of Equipment 10 2 3 Connection of Photoelectronic Sensor If a photoelectronic sensor is used for detection of workpieces connect the output signal of the photoelectronic sensor to a general input signal of the robot controller Any general input signal number of the robot controller can be selected In this section a connection example where the photoelectronic sensor signal is connected to the 6th general input signal is shown in Figure 10 13 Photoelectronic Sensor Connection Example 6th General Input Signal is Used Input circuit external power supply Controller Connects to the controller general purpose input Photoelectric sensor
153. or more repeating the above mentioned work The example of specifying these three points is shown Tasks 14 59 14 Calibration of Vision Coordinate and Robot Coordinate Systems B1 program 8 Select Mitsubishi Robot Tool Mitsubishi N point calibration in Add Tool column of this tool Q Eile Edit View Image Sensor System Window Help MEEF TETI EEIT hdr mre EE A TEETE CO BOM Si oaar Ba i Application Steps i Palette 1 Start o Help Results Links VO TestRun Belbl Name Result r Get Connected a x pee iiemeees y Point_1 36 3 40 0 a Set Up Image hd n Point_2 587 0 40 3 a Q 2 Set Up Toots ll Qu gt CE Filmstrp d Save Job Rate 100 0 5 5 Offline Time 0 0ms JE Math amp Logic Tools pH Plot Tools E Image Filter Tools ieoli name Point_8 Calibration Tools Tool Fixture None PY Defect Detection Tools Tool Enabled On Mitsubishi Robot Tool f Mitsubishi N Point Calibrai Include In Job Pass v ja Execution Time ms See Deserintion 9 Click Add button Select User Defined point three points specified ahead from nine displayed marks Then Click OK button Palette J O i Bme Homa Port i 063 400 2 Port Pixel Row Pinel Column We Port 40 000 36 333 Poiti 40333 587000 k Port 393 333 35 000 helide h Jb Pass P
154. or up to twice by the following data specified in C1 program lt Data specified in C1 program gt e Field of view in the conveyer movement direction e Length of workpieces detected by a vision sensor length in the conveyer movement direction POINT 1 program follows workpieces on a conveyer based on the workpiece information stored in the tracking buffer in C program C program performs processing until the recognized workpiece position is stored in the tracking buffer The workpiece information stored in the tracking buffer is read by 1 program and the robot follows workpieces on the conveyer based on the information 17 84 Program for Conveyer Tracking 18 Automatic Operation 18 Automatic Operation This chapter explains how to prepare the robot before starting the system 18 1 Preparation 1 Check that there is no interfering object within the robot movement range 2 Prepare to run the desired program Note When your controller has no operation panel use the dedicated external signals corresponding to the following step to operate the robot Although the image of the operation panel is the robot controller the operation method is the same in other controllers T B disabled Set the T B ENABLE switch to DISABLE Controller enabled Set the controller MODE switch to AUTOMATIC Servo ON Press the SVO ON key the servo will turn ON and the
155. origin when the vision sensor recognizes workpieces 46 MED1 M_100 MENCNO Amount of conveyer movement at calibration between vision sensor and robot 47 PRBORG P_EncDIit MENCNO MED1 Robot origin when the vision sensor recognizes workpieces 48 Return a workpiece recognized by the vision sensor to the position taught to the robot 49 MED2 M_101 MWKNO Amount of conveyer movement from vision sensor recognition to workpiece teaching 50 PBACK P_EncDIt MENCNO MED2 51 Calculate the position of the workpiece that the vision sensor in the robot area recognized 52 PWKPOS PRBORG PVSWRK PBACK Workpiece position recognized by the vision 21 136 Sample Programs 21 Appendix sensor into the robot area 53 PVTR P_Zero PWKPOS PTEACH Vectors specifying the center of gravity of the vision sensor and grabbing position 54 If PVTR X lt PCHK X Or PVTR X gt PCHK X Then Error 9110 The calculation result is greatly different from the theory value 55 If PVTR Y lt PCHK Y Or PVTR Y gt PCHK Y Then Error 9110 56 Return 57 58 HHHH Condition setting HHHH 59 S30CONST 60 MDX P_EncDIt MENCNO X Amount of movement per pulse X 61 MDY P_EncDIt MENCNO Y Amount of movement per pulse Y 62 MDZ P_EncDit MENCNO Z Amount of movement per pulse Z 63 MD Sqr MDX 2 MDY 2 MDZ 2 Calculation of the amount of movement per pulse 64 MEI Abs MVSL MWKL MD Calculation of imaging start setting value 65 Return 6
156. otoelectronic sensor 24V power supply Used to synchronize tracking 24 VDC 410 For the Photoelectronic sensor Components 7 31 7 System Configuration Name of devices to be provided by customers Encoder distribution unit The Encoder distribution unit is required when two or more robot controllers are connected to the one encoder Provide this unit as necessary 2F YZ581 If the Encoder distribution unit is used a 5V power source for the encoder is not necessary Refer to the Encoder Distribution Unit Manual BFP A3300 for details Quantity Remark Personal computer part Personal computer Please refer to the instruction manual of RT Maas ee 3D 11C WINE Ui a el details of the personal computer 2mp 3D 12C WINE support software Table 7 3 List of Devices Provided by Customers Vision Tracking Name of devices to be provided by customers Robot part Teaching pendant R32TB R33TB or R56TB R57TB PHand o o S ene a a a Hand sensor Used to confirm that workpieces are gripped correctly Provide as necessary Solenoid valve set Different models are used depending on the robot See the Remark Hand input cable sol mh used Check the robot version and provide as necessary Air hand interface 2A RZ365 or CRnQ 700 CRnD 700 series controller 2A RZ375 Provide as necessary Calibration jig This is a jig with a sharp tip that is attached to the mechanical interface of the robot arm and used for calibration tasks
157. pm done menu zolect the type of Search Region and en position tt yee ee the Model Rectaneb Search Fisctenel Click Settings tab from Edit Tool and change the Rotation Tolerance value to 2 Ee Et ier tow Geer town row BP OSH SR AaB ikurrean ii 180 Hox 6 osar Da The vision sensor can recognize workpiece up to 180 degrees Change the Accept Threshold and adjust the recognition rate of workpiece J tocation Toots ali Gereral Settines A Pathe Patter x Soh Patam Accept Threshold IA Patmsce Pattee 1 1 Contract Threshold Patterns 1 10 Foii Tne 15 70 Program for Vision Tracking 15 Workpiece Recognition and Teaching C1 program ce the Seniesa ae iod 2 tank jint iKO amp osar Daz Choose a communication protocol by selecting a Bence Msnutscturer i Ae rene eee ae Glick OK to confire or Cancel to Click Communication from Application Steps Click Addi Device from Communications Select the following from Device Setup Device Robot Manufacturer Mitsubishi Protocol Ethernet Native String Click OK button E In Sight Explorer admin METWOSBC Ism100 EasyBulder View S Elle Est Vew kmee Sensor System Winder Help DS 4 43 48 x SEE Pe EET OO RQQSm Hah Click Add button from Format Output String gt Select Output Data screen opens Pattem
158. position edit screen lt PROGRAM gt B1 KPOS gt JNT 100 P1 X 0000 00 TH i 1 Ver Al AHHH HEH 2 tracking robot conveyor calibra 3 NAME Bl prg 4 Create version gt 2006 04 21 Al tie 123 b The F3 Prev key or the F4 Next key is pressed change the target variable and display PE on the position name lt POS gt JNT 100 PE X 0000 00 A 0000 00 Y 0000 00 B 0000 00 Z 0000 00 0000 00 L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 c X coordinates are selected by the arrow key press the CLEAR key for a long time and delete the details Input the encoder number into X coordinates lt POS gt JNT 100 PE X 0001 00 A 0000 00 Y 0000 00 B 0000 00 Z 0000 00 0000 00 L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 d Press the function key F2 corresponding to the change and display the command edit screen lt POS gt JNT 100 PE lt PROGRAM gt B1 F000 00 80000 00 HH Ver A1 HHH tracking robot conveyor calibra 3 NAME B1 prg L1 0000 00 L2 0000 00 FL1 00000007 FL2 00000000 4 Create version 2006 04 21 A1 DELETE NAME FE CHANGE CLOSE cme 123 2 Start In Sight Explorer and make the vision sensor into the off line Select the Live Video of Set Up Image in Application Steps Menu and display the picture which the vision sensor picturized on real time Refer to the manual obtained from the Co
159. r CR750 D CR751 D series Ver S3 or later CRnQ 700 series Ver R1 or later CRnD 700 series Ver P1a or later No part of this manual may be reproduced by any means or in any form without prior consent from Mitsubishi The contents of this manual are subject to change without notice An effort has been made to make full descriptions in this manual However if any discrepancies or unclear points are found please contact your service provider The information contained in this document has been written to be accurate as much as possible Please interpret that items not described in this document cannot be performed or alarm may occur Please contact your service provider if you find any doubtful wrong or skipped point This specifications is original The ETHERNET is a registered trademark of the Xerox Corp All other company names and production names in this document are the trademarks or registered trademarks of their respective owners Copvriaht C 2009 2014 MITSUBISHI ELECTRIC CORPORATION Contents Part WO a anes near ee cnn ei a ee PRA Cerne ee eee ng 1 1 Tew MOVEIVICWEir iis aE a eit tc een eet Tak as ae Sate iene oid oe Sata ites oon elie d daceaetaguekaeataaens 1 1 ti Whatisthe Tracking FUNCION erodert niise ae REEN E EEE OAE OA EAE A TATE 1 1 1V A N 0 8 10211 O A E E EEE cates E E A AT T E E N E 1 2 t3 Gontemts of tie manah orea a aA REEN AEE EE OAE OA A AT 1 3 1 4 The generic name and abbr
160. r 12 explains functions related to supplemental sample programs Calibration of Conveyer and Robot Coordinate Systems A1 program Refer to Chapter 13 Chapter 13 explains how to calculate the amount of robot movement per encoder pulse Calibration of Vision Coordinate and Robot Coordinate Systems B1 program Refer to Chapter 14 Chapter 14 explains how to display the position of a workpiece recognized by the vision sensor in the robot coordinate system Workpiece Recognition and Teaching C1 program Refer to Chapter 15 Chapter 15 explains how to calculate the relationship between the position of a workpiece recognized by the vision sensor and the position at which the robot grabs the workpiece Teaching and Setting of Adjustment Variables 1 Program Refer to Chapter 16 Chapter 16 explains how to make settings such that the robot can follow workpieces moving by ona conveyer and how to teach the robot origin and transportation destination at system start up Automatic Operation Refer to Chapter 18 In automatic operation the robot operates via commands from the conveyer control 3 End of operation Maintenance Refer to Chapter 19 Troubleshooting Refer to Chapter 20 Tracking Specifications and Restriction matter 9 37 10 Connection of Equipment 10 Connection of Equipment This section explains how to connect each of the prepared pieces of equipment
161. r described on the rating plate Note 1 The function is different according to the operating system software installed A CAUTION Before touching the DIP switches always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Preparation of Equipment 5 15 5 Connection of Equipment 3 Specification of hardware a Module specifications po ttem Specifications O OO Number of I O occupying points 32 points I O allocation Intelligent 32 points Intemal current consumption 5VDC A 98 H lt 27 4 W x 90 D Exterior dimensions mm inch peo ee aca b Tracking enable signal input Po item Ts Specifications O O OOOO O O Number of input points Tracking enable signal 3 points pe Eii 12 24VDC 12VDC 2mA 24VDC 4mA on 10 2 to 26 4VDC ste wonge range 12 24VDC 10 15 ripple ratio 5 or less OFF voltage current E A 8VDC or less 0 18mA or less Ppp KC OFF to ON 7 1ms Response time Responsetme ON to OFF a Common terminal arrangement 1 pointicommon Common contact TREN COM point common Common contact TREN COM Indicates to displa ON indication LED Note Functions are different depending on the operating system software installed c Manual puls
162. r malfunction may occur if in close contact with one another Do not apply too much force to connectors or bend cables too much Failure to observe this may result in contact defects or wire damage Ensure that the weight of the workpiece including the hand does not exceed the rated load or allowable torque Failure to observe this may result in alarms or breakdown Attach hands and tools and grip workpieces securely Failure to observe this may result in bodily injury or property damage if objects are sent flying or released during operation Ground the robot and controller properly Failure to observe this may result in malfunction due to noise or even electric shock Always indicate the robot operating status during movement If there is no indication operators may approach the robot potentially leading to incorrect operation If performing teaching work inside the robot movement range always ensure complete control over the robot beforehand Failure to observe this may result in bodily injury or property damage if able to start the robot with external commands Jog the robot with the speed set as low as possible and never take your eyes off the robot Failure to observe this may result in collision with workpieces or surrounding equipment Always check robot movement in step operation before commencing auto operation following program editing Failure to observe this may result in collision with surrounding equipment due to p
163. ransporting workpieces while following recognized workpieces Operation program 1 Movement to the robot origin 2 Workpiece suction and transportation operation while following movement CM1 Workpiece coordinate monitor This program monitors encoder values and stores workpiece program coordinates 12 48 Tracking Parameter Setting 13 Calibration of Conveyer and Robot Coordinate Systems A1 program 13 Calibration of Conveyer and Robot Coordinate Systems A1 program This chapter explains the tasks carried out by using A1 program A1 program contains operations required for both conveyer tracking and vision tracking Calibration of a conveyer refers to determining the movement direction of the conveyer in the robot coordinate system and the amount of movement of the robot per encoder pulse This amount of movement is stored in the robot s status variable P_EncDIt A1 Program performs specified tasks and automatically calculates the amount of movement of the robot per encoder pulse mentioned above The procedures of operations specified by A1 program and items to be confirmed after the operations are explained below Please refer to Detailed Explanations of Functions and Operations for the steps involved in each operation Please monitor status variable M_Enc 1 to M_Enc 8 before it works rotate the encoder and confirm the value changes 13 1 Operation procedure 1 Mount
164. rator incremental synchronous encoder power supply use a 5V stabilized power supply Any other power supply may cause a failure Always wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly Wrong wiring may damage the internal circuit Preparation of Equipment 5 19 5 Connection of Equipment 5 2 Connection of Equipment The connection with each equipments is explained as follow 5 2 1 Connection of Unit Q173DPxX unit is connected to base unit Q3oDB or Q6cB increase base unit E Power supply module QnUD E H CPU VO module Intelligent function module of the Q series Extension of the Q senes module Q6LB extension base unit Q63B Q658 Q688 Q612B Power supply module 1 0 module intelligent function module of the Q series Figure 5 5 Connected composition of units The connection robot system with Q173DPX unit is shown as follow List 5 2 Spec list of Q173DPX in robot system Spec and Remark Encoder Incremental synchronous encoder 3pcs Tracking input points 3points Three points can be input to TREN1 3 in the pin assignment of the unit When the input of a photoelectric sensor is put this input is used Slot that can be connected Connection with the base unit Possible to install I O slot since 3 Impossible to install CPU slot or I O slot 0 to 2 Connection with additional base unit Possible to ins
165. rkpiece movement direction PO Teaching position in C1 program P1 Workpieace position when captured from vision sensor in CM1 program P1c Current Workpiece position M1c Current encoder value M1 Encoder value when captured from vision sensor in CM1 program P2 Target position MELFA BASIC V Instructions 19 89 19 Maintenance of robot program TrClir tracking data clear Function Clears the tracking data buffer Format TrClr O lt Buffer number gt Term lt Buffer number gt cannot be omitted Specify the number of a general purpose output to be output Setting range 1 to 4 The first argument of parameter TRBUF Example 1 TrClr 1 Clear tracking data buffer No 1 2 LOOP 3 If M_In 8 0 Then GoTo LOOP Jump to LOOP if input signal No 8 to which a photoelectronic sensor is connected is OFF 4 M1 M_Enc 1 Acquire data of encoder number 1 at the time when input signal No 8 is turned on and store it in M1 5 TrWrt P1 M1 MK Write workpiece position data P1 encoder value M1 at the time an image is acquired and model number MK in the buffer Explanation e Clear information stored in specified tracking buffer 1 to 4 e Execute this instruction when initializing a tracking program 19 90 MELFA BASIC V Instructions 19 Maintenance of robot program Trk tracking function Function After Trk On is executed the robot goes into the tracking mode
166. rogramming mistakes etc If attempting to open the safety fence door during auto operation ensure that the door is locked or that the robot stops automatically Failure to observe this may result in bodily injury A Caution A Warning A Caution A Caution A Warning A Caution A Caution Do not perform unauthorized modifications or use maintenance parts other than those stipulated Failure to observe this may result in breakdown or malfunction If moving the robot arm by hand from outside the enclosure never insert hands or fingers in openings Depending on the robot posture hands or fingers may become jammed Do not stop the robot or engage the emergency stop by turning OFF the robot controller main power Robot accuracy may be adversely affected if the robot controller main power is turned OFF during auto operation Furthermore the robot arm may collide with surrounding equipment if it falls or moves under its own inertia When rewriting internal robot controller information such as programs or parameters do not turn OFF the robot controller main power If the robot controller main power is turned OFF while rewriting programs or parameters during auto operation the internal robot controller information may be destroyed Horizontal multi joint robots The hand may drop under its own weight while the robot brake release switch is pressed and therefore due care should be taken Failure to observe this may result in collisio
167. s of 1 program to be performed 1 to 31 Y Set the line numbers of CM1 program to be performed _ 1 to 31 PUP1 When operating by the adsorption of workpiece set When the following values are set the height that the robot works Amount of elevation of the position where Height sets the amount of elevation mm from the a robot waits until a workpiece arrives position where workpiece is adsorbed 50 mm X Amount of elevation of the position where a robot Amount of elevation from the workpiece waits until a workpiece arrives mm suction position before suctioning Y Amount of elevation from the workpiece suction 50 mm position before suctioning mm Amount of elevation from the workpiece Z Amount of elevation from the workpiece suction position after suctioning suction position after suctioning mm 50 mm Since the Y and Z coordinates indicate X Y Z A B C 50 50 50 0 0 0 distances in the Z direction in the tool coordinate system the sign varies depending on the robot model PUP2 When operating in putting workpiece set the height When the following values are set that the robot works Amount of elevation from the workpiece Height sets the amount of elevation mm from the release position before release position where workpiece is adsorbed 50 mm Y Amount of elevation from the workpiece Amount of elevation from the workpiece release position before release mm relea
168. s transport the Speed 1 workpieces Possible to support up to 500mm s when the interval of workpiece is wide Encoder Output aspect A A B B Z Z Output form Voltage output open collector type 7 Line driver output 2 Resolution pulse rotation Up to 2000 4000 and 8000 uncorrespond Confirmed operation product Omuron E6B2 CWZ1X 1000 E6B2 CWZ1X 2000 Encoder cable Option 2D CBL05 External I O cable 5m 2D CBL15 External I O cable 15m Conductor size AWG 28 Encoder unit Only Q173DPX unit Two or more robots CPU cannot share one Q173DPxX One Q173DPxX is necessary for each robot CPU Photoelectronic sensor Used to detect workpieces positions in conveyer tracking 3 Output signal of sensor need to be connected to TREN terminal of Q173DPX unit Input signal number 810 817 And a momentary encoder value that the input enters is preserved in state variable M_EncL Vision sensor 4 Mitsubishi s network vision sensor Precision at handling Approximately 2 mm when the conveyer speed is approximately 300 position 5 mm s 1 2 3 4 5 6 7 8 Photoelectronic sensor recognition accuracy vision sensor recognition accuracy robot repeatability accuracy and so on The specification values in the table should only be considered guidelines The actual values depend on the specific operation environment robot model hand and other factors The li
169. se position after release Z Amount of elevation from the workpiece 50 mm release position after release mm X Y Z A B C 0 50 50 0 0 0 Since these values are distances in the Z direction of the tool coordinate system the sign varies depending on the robot model PAC1 When operating by the adsorption of workpiece the When the following values are set acceleration and the deceleration when moving to Acceleration until moving to the position the position on the workpiece are set on the workpiece 100 X The acceleration until moving to the position Deceleration until moving to the on the workpiece 1 to 100 position on the workpiece 100 Y The deceleration until moving to the position X Y Z A B C on the workpiece 1 to 100 100 100 0 0 0 0 The value set by X coordinates and Y coordinates of PAC is used for lt acceleration ratio gt of the Accel instruction and lt deceleration ratio gt The value is reduced when the speed of time when the robot vibrates and the robot is fast 16 78 Setting of adjustment variables in the program 16 Teaching and Setting of Adjustment Variables 1 Program PAC2 When operating by the adsorption of workpiece When the following values are set the acceleration and the deceleration when Acceleration until moving to the moving to the workpiece suction position are set workpiece
170. sition 1 Ferrite core ground clamp attachments attachments Figure 10 9 Installation of encoder cable CR2D 700 series 5 CR3D 700 series Connect the encoder cable to the connector of the CNENC display And the ground of the cable uses the rear cover Connector CNENC Less than 300mm Ferrite core attachments Cable ground clamp position 1 1 Cable ground clamp position ground clamp attachments The encoder cable peels the sheath and grounds the metal section on the chassis of the controller irs es fs ass cy bone 20 to 30mm Metal section Figure 10 10 Installation of encoder cable CR3D 700 series Connection of Equipment 10 43 10 Connection of Equipment 6 Measures against the noise The example of noise measures of the tracking system is shown in the following Please implement the measures against the noise if needed in the power supply periphery section for the encoders which prepared of the customer 1 Please insert AC line filter recommendation MXB 1210 33 Densei Lambda in the AC input side cable of the power supply for the encoders 2 Please insert the ferrite core recommendation E04SR301334 SEIWA ELECTRIC MFG in the DC output side cable of the power supply for the encoders 3 Please connect the power supply case for the encoders to the installati
171. sition 127 TrBase PTBASE MBENCNO Tracking base setting 128 PGT PTBASE POFSET Suction position setting 129 GoSub S46ACSET Interrupt definition 130 Return 131 132 Interrupt definition processing 1 133 S46ACSET 134 Select PTN X Conveyer position pattern number 135 Case 1 Front right gt left 136 MSTP1 PRNG Z Following stop distance 137 Def Act 1 P_Fbc 1 Y gt MSTP1 GoTo S91STOP To S91STOP if followed far long 138 Break 139 Case 2 Front left gt right 140 MSTP1 PRNG Z 141 Def Act 1 P_Fbc 1 Y lt MSTP1 GoTo S91STOP 142 Break 143 Case 3 Left side rear gt front 144 Case 5 Right side rear gt front 145 MSTP1 PRNG Z 146 Def Act 1 P_Fbc 1 X gt MSTP1 GoTo S91STOP 147 Break 148 Case 4 Left side front gt rear 149 Case 6 Right side front gt rear 150 MSTP1 PRNG Z 151 Def Act 1 P_Fbc 1 X lt MSTP1 GoTo S91STOP 152 Break 153 End Select 154 Return 155 156 Workpiece position confirmation processing 157 PX50CUR Current workpiece position 158 MXSOST Tracking start range 159 MXSO0ED Tracking end range 160 MX50PAT Conveyer position pattern number 161 MYSOSTS Result 1 Wait 2 Start tracking 3 Next workpiece 162 SSOWKPOS 164 The processing to singular point of RH 3S HR 165 P50FWCUR PX50CUR Inv P_Tool Position of workpiece in flange 166 PTRST P_Zero 167 PTRED P_Zero 168 The processing to singular point of _RH 3S HR
172. ss the CLEAR key for a long time and delete the details Input the encoder number into Y coordinates lt POS gt JNT 100 PRMI X 0001 00 Y 0001 00 Z 0000 00 L1 0000 00 _12 0000 00 FL1 00000007 FL2 00000000 f Press the function key F2 corresponding to the change and display the command edit screen lt POS gt JNT 100 PRM1 lt PROGRAM gt C1 F001 O0 B 29000 00 1 Hit Ver A HAREE Z 0000 00 C 0000 00 oe ae conveyor calibra L1 0000 00 _L2 0000 00 FL1 00000007 FL2 00000000 4 Create version 3006 04 21 Al Diaa ee 123 Keen ems CMe 123 3 Start In Sight Explorer and make the vision sensor into the off line Select the Live Video of Set Up Image in Application Steps Menu and display the picture which the vision sensor picturized on real time Check the images and set the field of vision in the moving direction of the conveyer mm and the length of workpieces detected by the vision sensor length in the moving direction of the conveyer in the X and Y coordinates of the position variable PRM2 in the program respectively Open the Position data Edit screen Display PRM at the position name Enter the field of vision in the moving direction of the conveyer mm in the X coordinate Enter the workpiece length detected by the vision sensor length in the moving direction of the conveyer mm in the Y coordinate d Return to the Command edit screen a b c
173. suction position 10 X The acceleration until moving to the Deceleration until moving to the workpiece suction position 1 to 100 workpiece suction position 20 Y The deceleration until moving to the X Y Z A B C 10 20 0 0 0 0 workpiece suction position 1 to 100 PAC3 When operating by the adsorption of workpiece When the following values are set the acceleration and the deceleration when Acceleration until moving to the position moving toward the position on the workpiece are on the workpiece 50 set Deceleration until moving to the X The acceleration until moving to the position position on the workpiece 80 on the workpiece 1 to 100 X Y Z A B C 50 80 0 0 0 0 Y The deceleration until moving to the position on the workpiece 1 to 100 PAC11 When operating by the release of workpiece the When the following values are set acceleration and the deceleration when moving to Acceleration until moving to the position the position on the workpiece are set onthe workpiece 80 X The acceleration until moving to the position Deceleration until moving to the release position 1 to 100 position on the workpiece 70 Y The deceleration until moving to the position X Y Z A B C 80 70 0 0 0 0 release position 1to 100 PAC12 When operating by the release of workpiece the When the following values are set acceleration and the deceleration when movi
174. t 29 10 Move a workpiece on the conveyer until it gets within the robot operation area 30 11 Move the robot to the suction position 31 ME2 M_Enc MENCNO Acquire encoder data 2 32 P_100 MWKNO P_Fbc 1 Acquire position 1 33 12 Perform step operation until END 34 MED ME2 ME1 Calculate the amount of encoder movement 35 If MED gt 800000000 0 Then MED MED 1000000000 0 36 If MED lt 800000000 0 Then MED MED 1000000000 0 37 M_101 MWKNO MED Amount of encoder movement 38 P_102 MWKNO PRM1 Encoder number 39 P_103 MWKNO PRM2 Image size and workpiece size 40 C_100 MWKNO CCOM COM port number 41 C_101 MWKNO CPRG Vision program name 42 End 43 44 This program is the relation between the workpiece position recognized by the network vision sensor and 45 the position at which the robot suctions workpieces PRM1 1 00 1 00 0 00 0 00 0 00 0 00 0 00 0 00 0 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 PVS3 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 0 00 PRM2 170 00 30 00 0 00 0 00 0 00 0 00 0 00 0 00 Sample Programs 21 135 21 Appendix 4 1 Prg The same program as the conveyer tracking 5 CM1 Prg 1 FH Ver A3 FAAHRR HARRAH 2 Conveyer tracking communication processing between robot and vision sensor 3 Program type VS communi
175. t DU fof YS KY v P Encoder R Vv petite oo Z van Jf 2 j of the convetor Cm LLP GE f 4 n YZ E E E Camera for vision sensors Recognized the work Workpieces Robot movement range is ees of the position and inclination Figure 2 3 Configuration Example of Vision Tracking Top View Example of CR2Q controller It is the same by other controllers Figure 2 4 Configuration Example of Vision Tracking 2 10 Example of System Configuration 3 Specification 3 Specification 3 1 Tracking Specifications and Restriction matter Table 3 1 CR750 Q CR751 Q Series CRnQ 700 Series Controller Tracking Function Specifications shows the tracking specifications Please refer to Standard Specifications Manual for the specifications of the robot arm and controller to be used Table 3 1 CR750 Q CR751 Q Series CRnQ 700 Series Controller Tracking Function Specifications Item Specification and Restriction matter Supported robots 8 RH SQH series RV SQ series RH FH Q series RV F Q series Applicable robot controller CR1Q CR2Q CR3Q controller CR750 Q CR751 Q series controller Robot program language Load commands dedicated for the tracking function Conveyer Number of Max 8pcs in case 1pc encoder connect to 1 pc conveyer conveyer Encoder 3 pcs Q173DPX unit 1pc 6 Q173DPX unit 3pcs system Movement Possible to support up to 300mm s When the robot alway
176. t controller Note When your controller has no operation panel use the dedicated external signals corresponding to the following step to operate the robot Although the image of the operation panel is the CRnD 700 controller the operation method is the same in other controllers T B disabled Set the T B ENABLE switch to DISABLE Controller enabled Set the controller MODE switch to AUTOMATIC Servo ON Press the SVO ON key the servo will turn ON and the SVO ON lamp will light Selection of a program number Display of a program number Press the CHNG DISP CHNG DISP key and display f PROGRAM NO on ce the STATUS NUMBER STATUS NUMBER display Selection of a program number Press the UP or the DOWN key and display program pay E Start of automatic operation Start Press the START key Program for Vision Tracking 15 75 15 Workpiece Recognition and Teaching C1 program After automatic operation C1 program automatically stops and the LED of the STOP button is turned on Open C1 program again with T B Press the F1 FWD key to display the subsequent operation messages With this operation encoder data and workpiece position recognized by the vision sensor are acquired Rotate the conveyer forward and move a workpiece within the vision sensor recognition area into the robot movement range 10 Move the robot to the position where it
177. t does the tracking Again stop a live image clicking Live Video button Change Trigger from Camera to EE tn sight Explorer samin 3 m in E Eo Ei View Imee Sewer Syrien Window Hip Manual oca sn ABBX jihyo onge Kshs Z voz gosar paz 8640 The image trigger is abnormal error occurs when the robot controller outputs the taking picture demand to the vision sensor when you do not change In Calibration type select Import G Ele Ett Yem kepe Geer Sgin niw Hei 6 x 64 42 taB OOP KH rKee Oo QIAM nira wy i H A AEE EE iaaa In File Name select l TrackingCalib cxd registered when working about the B1 program Program for Vision Tracking 15 69 15 Workpiece Recognition and Teaching C1 program ASR tilaa tile o Click Locate Part from Application Steps Fa Ee Ei yen leer Seer Sores Yer DO e x 7 x M 06d SR AaB PNKrPnewOoAQQSM ase EZ Select PatMax Pattern from Add Tool xorg BOSE Zap and click Add button First trom the Model drop down menu select the type ot a drop dore Eerste rex of Such foe ard epost T ch Region 1o cover the aresa in the image where the Model Frectaneb Search Fiectenek Move the displayed Model frame and t export admin IMEIWOA C em140 enclose workpiece yup ETIE E T OD6Gd SR ABBX Zintr gt rne eos poss esanee Click OK button in Directions ich dro
178. t or find the workpieces by using with robot controller and processing the image Q173DPX unit Q173DRX unit is manual pulser input unit for motion controller At Q series CPU it is used as intelligent function unit occupation 32 points Each encoder figure can be got by connection with 1 pc the manual pulser machine MR HDP0O1 or 3pcs the incremental encoder Physical encoder number Physical encoder numbers a number of the encoder physically allocated according to a certain rule In the CR750 Q CR751 Q CRnQ 700 series the number is allocated by arranging the encoder connected with Q173DPX unit The encoder which connected with CH1 of the Q173DPX unit specified for parameter ENC UNIT1 is the first the encoder which connected with CH2 is the second and with CH3 is the third It becomes from 4 to 6 for the Q173DPX unit specified for parameter ENCUNIT2 It becomes from 7 to 8 for the Q173DPX unit specified for parameter gt ENCUNIT3 Note The 3rd set of Q173DPX units can use only the two channels Logical encoder number The physical encoder number change to the logical encoder number by parameter EXTENC The purpose of this is to change freely number by the parameter for the encoder physically arranged This logical encoder number is used with the instruction and the state variable of the robot program TREN signal tracking enable signal 1 4 The generic name and abbreviation
179. tall all slots Robot CPU unit that can be Q173DPX unit 3pcs managed Robot CPU encoder that Max 8pcs can be managed Impossible to use the third channel of the third Q173DPX unit And impossible to use the encoder connected with the third channel of the unit specified for parameter ENCUNIT3 J 5 20 Connection of Equipment 5 Connection of Equipment 5 2 2 Connection with encoder for conveyer and encoder cable E6B2 CWZ1X made by Omron is used and the wiring for the encoder and the encoder cable for the conveyer is shown in Figure 5 2 the encoder for the conveyer and the wiring diagram of the encoder cable The encoder for the conveyer up to 3 pcs can be connected per Q173DP unit 1pc The signal cabels needed in case of the connection are power supply and encoder A B Z each total 8 cables Please refer to the manual of the encoder please connect signal cable correctly Also please ground shield line SLD ZA CAUTION When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion Pin assignment of the PULSER connector Twisted pair cable SLD Blue Blue OV Brown 5V a oe rs stripe Ex O yA _ White Red stripe ener eee SLD i 5 Blue 0V Brown 5V M a es SS eer Ex Omuron S E682 0WZ1X Se White Red stripe Photoelectric TREN1 Twisted pair cable sensor TREN1 Example of 3
180. te PGT1 pass point and PGT2 end point from the relative distance Use the Mvr command circle command and move on the circle of PGT gt PGT1 gt PGT2 The example of program change of the above lt conditions gt is shown in the following Before sample program change After sample program change 81 Trk On PBPOS MBENC PTBASE 81 Trk On PBPOS MBENC PTBASE 82 Mov PGT PUP1 Y Type 0 0 82 Mov PGT PUP1 Y Type 0 0 83 Accel PAC2 X PAC2 Y 83 POF1 50 50 0 0 0 0 0 0 0 0 84 Mvs PGT 84 POF2 0 100 0 0 0 0 0 0 0 0 85 HClose 1 85 PGT1 PGT POF1 Pass position 86 PGT2 PGT POF2 End position 87 Accel PAC2 X PAC2 Y 88 Mvs PGT 89 Mvr PGT PGT1 PGT2 Circle movement 90 HClose 1 In such a case improvement example 20 Troubleshooting 20 3 7 Draw the square while doing the tracking Here explain the example which draws the outline of the following square workpiece on the basis of the adsorption position e sys Position of TrBase P0 Position to follow PA Position to follow PC Position to follow PB The robot traces the outline of workpiece clockwise based on the position specified that the following programs are executed by the TrBase instruction 1 TrBase PO Specify the workpiece coordinate origin at the teaching position 2 TrRd P1 M1 MKIND Read the workpiece position data from the data buffer 3 Trk On P1 M1 Start tracking of a workpiece whose position measured by a sensor is
181. tial output Internal circuit Wiring example Specification Description Rated input voltage 5 5VDC or less For connection manual pulse generator Phases A B Pulse width 200s of more Manual pulse generator phase A HIGH level 2 0 to 5 25VDC Manual pulse generator Incremental synchronous LOW level 0 8VDC or less Manual pulse generator phase B Sus Sus or more _ or more Duty ratio 50 25 e Leading edge Trailing edge time tus or less Phase difference Phase A Phase B 2 545 or more 1 Positioning address increases if Phase A leads Phase B 26LS31 or equivalent Select type signal HPSELO pee Power supply sVDC 2 Positioning address decreases if Phase B leads Phase A Note 1 The 5V P5 DC power supply from the Q173DPX must not be connected if a separated power supply is used as the Manual pulse generator Incremental synchronous encoder power supply Use a 5V stabilized power supply as a separated power supply Any other power supply may cause a failure Note 2 Connect HPSELO to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used Connection of manual pulse generator Connection of manual pulse generator Voltage output Open collector type Differential output type Q173DPX Q173DPX Manual pulse generator side Manual pulse generator side Note 1
182. tion 5 HClose 1 Close hand 1 6 Trk Off End the tracking operation Explanation e Specify the position relative to the position data specified by Trk On as show in line 20 of the statement example for the target position of the movement instruction during tracking operation Z CAUTION A target position that moves in the tracking is calculated based on the workpiece position when Trk On The H2802 error might occur when a target position doesn t exist in the robot range at the time of Trk On Please execute Trk Off before the movement to the target position when the error occurs And please execute Trk On again e P_Zero PO in P1c P_Zero PO P2 in Example can be replaced with INV PO Z CAUTION S W Ver R1 or later SQ series S1 or later SD series CR750 CR751 series When HIt command is executed during tracking movement tracking movement will be stopped an equivalent for the Trk Off command and execution of the program will be interrupted In use of the multi mechanism tracking movement is stopped to the robot of the mechanism number got by the GetM command When you continue tracking movement by the restart continuation please create the program to execute the Trk On command S W Ver before R1 SQ series before S1 SD series When HIt command is executed during tracking movement execution of the program will stop but continue the conveyor tracking movement When you stop tracking movement please execute
183. troller Connection of Equipment 10 39 10 Connection of Equipment 5V power connector gt connector gt Terminal CH1 CH PL Brown 5V CNUSR1 28 CNUSR11 6 CNUSR1 33 CNUSR12 6 CNUSR1 21 CNUSR13 3 CNUSR1 46 CNUSR13 4 CNUSR1 22 CNUSR13 5 CNUSR1 47 CNUSR13 6 CNUSRI1 23 CNUSR13 ca CNUSR1 48 CNUSR13 10 Blue 0V _ Black m Black Red stripe White White Red stripe gt Orange Ferrite core Encorder Orange Red stripe i 5V power supply unit CH2 CH2 CNUSR2 15 CNUSR2 CNUSR2 40 CNUSR2 CNUSR2 21 CNUSR2 CNUSR2 46 CNUSR2 CNUSR2 22 CNUSR2 CNUSR2 47 CNUSR2 CNUSR2 23 CNUSR2 CNUSR2 48 CNUSR2 Figure 10 3 Wiring of the encoder for conveyors and encoder cable CR750 D CR751 D series controller Brown 5V Blue 0V Black ja Black Red stripe White White Red stripe gt Orange Ferrite core Encorder Orange Red stripe tr Refer to Table 21 3 Connectors CNENC CNUSR Pin Assignment with pin assignment of connector CNUSR The wiring example by the thing is shown below Please note that the connector shape is different depending on the controller Figure 10 5 Wiring example
184. uipment ie iaoei eia ieai ee eia e ai e ie a ieee aea a 5 13 5 1 Preparation of Equipment issiria akedik i eiieeii eied aane eea iii aa aid aea ae 5 13 5 1 1 Q173DPX manual pilser input unit SPECIFICATION cece ccececstececssecesseeeseeecssteeeseeeneees 5 14 5 2 Connectionof EQUIPMENT ects dec cteevat ent a ethene dectane A eh te r aa aT A AE aE 5 20 5 2 1 Connection of Unit net ok cag ae a elena denten Gi andes ae it ate 5 20 5 2 2 Connection with encoder for conveyer and encoder Cable cccceeceeeeeeeeeeenteeeeeeneeeeeeeaees 5 21 5 2 3 Connection of Photoelectronic Sensor ceceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseeeaeeeseeeaeeeseeaeeeseeaaees 5 23 6 Parameter Sewing cain aa keahaetiead RG cere de Naa e ied Ada R 6 25 6 1 Dedicated Input Output Parameters 00 cecccceececeeeeeeeccee cece eeeeeecaaeeeeeeeeeseaeaeeeeeeesenennieeeeeeeeeeee 6 25 62 gt Op ration Parameters e fet nce teen Aca aati eee A eed reese a det ae ee 6 25 6 3 Tracking Parameter Setii esiaren ceeds daecteet ces R EA A EEE EAEE a as 6 26 6 3 1 Robot Parameter Seting raden E A de deh teed ENa AEREA ETa ARETE 6 26 6 3 2 Sequencer CPU Parameter Setting 00 0 cceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeseeeaeeeseeaeeeseeaeeeeeeaaees 6 28 Part 3 System Configuration and Setting CR750 D CR751 D series CRnD 700 series Bee ensic oe tac nanmete nescwatianocatmccuucaiet ens cuatat sea Orenetc Gnehasacacr as seanasoteet E EA 6 31 f
185. urrent position of P1 as P1c make the robot operate while following workpieces with the target position of P1c P_Zero PO PW2 5 HClose 1 Close hand 1 6 Trk Off End the tracking operation 2 Sensor data reception program 1 LOOP 2 If M_In 8 0 Then GoTo LOOP Jump to LOOP if input signal No 8 to which a photoelectronic sensor is connected is OFF 3 M1 M_Enc 1 Acquire data of encoder number 1 at the time when input signal No 8 is turned on and store it in M1 4 TrWrt P1 M1 MK Write workpiece position data P1 encoder value M1 at the time an image is acquired and model number MK in the buffer Explanation e This function stores the workpiece position robot coordinates at the time when a sensor recognizes a workpiece encoder value model number and encoder number in the specified buffer e Arguments other than the workpiece position robot coordinates can be omitted If any of the arguments are omitted the robot operates while following changes of position data e Workpieces within the same workpiece judgment distance set in the TRCWDST parameter are regarded as the same workpiece Even if the data is written twice in the buffer with the TrWrt instruction only one data set is stored in the buffer For this reason data for one workpiece only is read with the TrRd instruction even if images of the same workpiece are acquired twice with a vision sensor 19 94 MELFA BASIC V Instructions 19 Maintenance of robot pro
186. use the amount of robot movement per encoder pulse is determined by the robot positions specified for the first and second times Moreover pay attention to the robot height as well because this amount of movement includes changes of robot position in the Z axis direction 4 Raise the robot 5 Drive the conveyer and stop at a position where the marking sticker is immediately outside the robot movement range N CAUTION The marking sticker should be moved for the maximum amount of movement allowed by the robot movement range If the amount of movement is too small errors in the amount of robot movement per encoder pulse will become large due to the error of the position specified for the robot 6 Move the robot to the position right above the center of the marking sticker on the moved conveyer With this operation encoder data and robot position are acquired 7 Raise the robot 8 Perform step operation until End The amount of robot movement per encoder pulse is calculated based on this operation 13 52 Tasks 13 Calibration of Conveyer and Robot Coordinate Systems A1 program 13 3 Confirmation after operation Check the value of P_EncDIt using T B This value indicates the movement of each coordinate mm of the robot coordinate system corresponding to the movement of the conveyer per pulse Example If 0 5 is displayed for the Y coordinate only This means that if the co
187. work vision sensor and the robot cannot be connected by the C1 program or the robot cannot log on the vision sensor Actions 1 Check the Ethernet cable which connects the robot with the network vision sensor Encoder number out Causes of range The encoder number specified in A1 program to C1 program is 0 or 9 or larger Actions 1 Check the X coordinate of the position variable PE in the programs Model number out of Causes range The model number specified in C1 program is 0 or 10 or larger Actions 1 Check the X coordinate of the position variable PRM1 in C1 program 2 If there are more than 11 models change MWKMAX 10 line in C1 program Position accuracy Causes out of range The workpiece position calculated by operations in A1 program to C1 program is very different from the theoretical value The example is shown in 1 Actions 1 Check the X and Y coordinates of the position variable PVTR in CM1 program These values represent the difference from the theoretical value 2 If the difference stored in PVTR is large run A1 program to C1 program again 3 Please add the value of positional variable PCHK in the CM1 program when the hand offsets from time when the calibration was executed and add the amount of the offset 4 Check that the X and Y coordinates of the position variable PCHK
188. ws acquiring image from the vision sensor is turned on 6 M_Out 20 0 Turn off the No 20 general purpose output Explanation e This instruction is used when triggering the vision sensor that calculates positions of workpieces to be tracked e It is possible to know the position where workpiece images are acquired by obtaining the external encoder values synchronously with the output e The general purpose output signal specified lt Output number gt is maintained Therefore please turn off the signal by using the M_Out state ariable when you confirm acquiring of the vision sensor 19 92 MELFA BASIC V Instructions 19 Maintenance of robot program TrRd reading tracking data Function Read position data for tracking operation encoder data and so on from the data buffer Format TrRd O lt Position data gt lt Encoder data gt lt Model number gt lt Buffer number gt lt Encoder number J Term lt Position data gt cannot be omitted Specify a variable that contains workpiece positions read from the buffer lt Encoder data gt can be omitted Specify a variable that contains encoder values read from the buffer lt Model number gt can be omitted Specify a variable that contains model numbers read from the buffer lt Buffer number gt can be omitted Specify a number of a buffer from which data is read 1 is set if the argument is omitted Setting range 1 to 4 The f

CR750/CR751 series controller Tracking

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