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Mitsubishi Electric CR750 Series Instruction Manual

Circular arc tracking function
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Mitsubishi Industrial Robot
CR750/CR751 series controller
Circular Arc Tracking Function
Instruction Manual
BFP-A3380-A
Table of Contents
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Summary of Contents for Mitsubishi Electric CR750 Series

  • Page 1 Mitsubishi Industrial Robot CR750/CR751 series controller Circular Arc Tracking Function Instruction Manual BFP-A3380-A...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop.
  • Page 6 DANGER 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, and leading to malfunction. CAUTION Make sure there are no mistakes in the wiring.
  • Page 7 Revision history Date of print Specifications No. Details of revisions 2015-03-06 BFP-A3380 First print 2017-05-10 BFP-A3380-A Contact information of the authorized representative was updated.
  • Page 8 ■Preface Thank you very much for purchasing Mitsubishi Electric Industrial Robot. The circular arc tracking function allows robots to follow workpiece on a turntable and a circular arc conveyer, line up and process the workpieces without having to stop the conveyer.

  • Page 9: Table Of Contents

    [Contents] Overview ............................................1-1 What is the circular arc tracking function? ............................1-1 1.1. System that can achieve ....................................1-2 1.2. The terminology explanation ..................................1-5 1.3. System Configuration ......................................... 2-6 Components .......................................... 2-6 2.1. Robot controller enclosure products .............................. 2-6 2.1.1.
  • Page 10 Explanation of Tracking Operation Instructions ........................10-69 10.1.3. Timing Diagram of Dedicated Input/Output Signals ........................ 10-104 10.2. Robot Program Start Processing ............................. 10-104 10.2.1. Troubleshooting ........................................ 11-105 Occurrence of Other Errors ................................... 11-105 11.1. In such a case (improvement example) ............................11-107 11.2.

  • Page 11: Overview

    1 Overview 1. Overview 1.1. What is the circular arc tracking function? The circular arc tracking function allows robots to follow workpiece on a turntable and a circular arc conveyer. With this function, it becomes possible to transport line up and process workpieces without having to stop the conveyer.

  • Page 12: System That Can Achieve

    1 Overview 1.2. System that can achieve With the circular arc tracking function, the example of the system that can be achieved is shown as following. Table 1-1 Example of system that can be achieved by the circular arc tracking function CR750-Q CR750-D Example of the system...
  • Page 13 1 Overview A advantage using the circular arc tracking function is shown as following. Point The area of the system can be done small by a turntable! Before - [In case of a straight conveyer] ↓ Before - [In case of a circular arc conveyer] System that can achieve 1-3...
  • Page 14 1 Overview Point Tracking distance becomes long, robot can do much work! Before - [In case of a straight conveyer] ↓ Before - [In case of a circular arc conveyer] 1-4 System that can achieve...
  • Page 15 1 Overview 1.3. The terminology explanation Table 1-2 The terminology explanation for circular arc tracking Generic name and Contents abbreviation Q type “Q type” means CR750-Q/CR751-Q series controller. D type “D type” means CR750-D/CR751-D series controller. Circular arc tracking function The conveyer tracking allows a robot to follow workpieces lining up on a turntable and a circular arc conveyer.

  • Page 16: System Configuration

    2 System Configuration 2. System Configuration 2.1. Components 2.1.1. Robot controller enclosure products The product structure of the circular arc tracking functional relation enclosed by the robot controller is shown in the Table 2-1 . List of Configuration in the circular arc tracking functional-related product Table 2-1 Product name Model name...
  • Page 17 2 System Configuration Target type Name of devices to be Model Quantity Remark provided by customers ● Encoder cable Shielded twisted pair cable 5V power supply +5V DC (±10%):For Encoder [*]In the case of Q type, the ● Q173DPX unit supplies 5V power supply to the encoder.

  • Page 18: Example Of System Configuration

    2 System Configuration 2.2. Example of System Configuration The following figure shows a configuration example of a system that recognizes lined-up workpieces on a circular arc conveyer passing a photo electronic sensor and follows the workpieces. 2.2.1. Configuration Example of Q type Configuration Example of Q type Figure 2-1 2.2.2.

  • Page 19: Specification

    3 Specification 3. Specification 3.1. Circular arc tracking Specifications The table below shows the circular arc tracking specifications. Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be used. 3.1.1. Q type Circular Arc Tracking Function Specifications Table 3-1 CR750-Q/CR751-Q Series Controller Item Specification...

  • Page 20: D Type

    3 Specification 3.1.2. D type Circular Arc Tracking Function Specifications Table 3-2 CR750-D/CR751-D Series Controller Item Specification Supported robots (*1) RH-FH-D series / RV-F-D series Applicable robot controller CR750-D/CR751-D series controller Correspondence to (As of February, 2015, not supported) Vision sensor Conveyer Number of Max 2pcs (in case 1pc encoder connect to 1 pc conveyer)

  • Page 21: Q173Dpx(Manual Pulser Input) Unit Specification

    3 Specification 3.2. Q173DPX(manual pulser input) unit specification Add Q173DPX unit into PLC base unit (Q3□DB) when the customer use Q type circular arc tracking function. Please refer to "Q173DCPU/Q172DCPU user's manual" about details of this unit. (1) External and name of Q173DPX unit Externals of Q173DPX unit Figure 3-1 Q173DPX(manual pulser input) unit specification 3-11...
  • Page 22 3 Specification (2) Dip switch By setting the dip switch, the condition of the tracking enable signal is decided. Table 3-3 Item of dip switch 3-12 Q173DPX(manual pulser input) unit specification...
  • Page 23 3 Specification (3) Specification of hardware Q173DPX(manual pulser input) unit specification 3-13...
  • Page 24 3 Specification (4) Wiring The pin layout of the Q173DPX PULSER connecter viewed from the unit is shown below. Figure 3-2 Pin assignment of the PULSER connector 3-14 Q173DPX(manual pulser input) unit specification...
  • Page 25 3 Specification Interface between PULSER connecter and manual pulse generator (Differential-output type)/ Incremental synchronous encoder Figure 3-3 Wiring connection with rotary encoder As above image, because DC5V voltage is output from Q173DPX unit, it makes possible to supply 5V from Q173DPX unit to rotary encoder.
  • Page 26 3 Specification The interface between tracking enable signal is shown follow. This signal is used for input signal when the sensor is used to find workpieces so please connect photoelectronic output signal of sensor. photoelectronic Figure 3-4 Connected composition of tracking enable signal The connection robot system with Q173DPX unit is shown as follow.

  • Page 27: Operation Procedure

    4 Operation Procedure 4. Operation Procedure This chapter explains the operation procedure for constructing a circular arc tracking system. Start of operation ↓ 1．Preparations and Connection of Equipment ····················································· Refer to “Chapter 5.” [Q type] Chapter 5 explains Q173DPX (manual pulser input) unit preparation and the connection with the encoder.

  • Page 28: Preparations And Connection Of Equipment

    5 Preparations and Connection of Equipment 5. Preparations and Connection of Equipment This section explains how to connect each of the prepared pieces of equipment. Prepare equipment by referring to “Table 2-2 List of Devices Provided by Customers”. 5.1. Connection of Equipment [Q type] The connection with each equipments is explained as follow.
  • Page 29 5 Preparations and Connection of Equipment Pin assignment of the PULSER connector Twisted-pair cable Blue(+0V） Encoder HPSEL1 Brown(+5V） HA1P Black Black/Red stripe HA1N Ex.)Omuron HB1P White E6B2-CWZ1X White/Red stripe HB1N Blue(+0V) Encoder Brown(+5V） HPSEL2 Black HA2P Black/Red stripe HA2N Ex.)Omuron White HB2P E6B2-CWZ1X...

  • Page 30: Connection Of Photoelectronic Sensor

    5 Preparations and Connection of Equipment 5.1.3. 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, the connection example to 1 channel (A4, B4) is shown below. Q173DPX PULSER connector Photoelectric sensor...

  • Page 31: Connection Of Equipment [D Type]

    5 Preparations and Connection of Equipment 5.2. Connection of Equipment [D type] The connection with each equipments is explained as follow. 5.2.1. Connection with encoder 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 “...
  • Page 32 5 Preparations and Connection of Equipment (1)CR750-D series controller The wiring example by the thing is shown below. (Please note that the connector shape is different depending on the controller) 5 V power supply Figure 5-4 Wiring example (CR750-D series controller) +5V power
  • Page 33 5 Preparations and Connection of Equipment (2)CR751-D series controller The wiring example by the thing is shown below. (Please note that the connector shape is different depending on the controller) 5 V power supply Figure 5-6 Wiring example (CR751-D series controller) +5V power

  • Page 34: Installation Of Encoder Cable

    5 Preparations and Connection of Equipment 5.2.2. Installation of encoder cable The installation method of the encoder cable is shown by controller to be used. *CR750-D series: “ Figure 5-8 Installation of encoder cable (CR750-D series)” *CR751-D series: “ Figure 5-9 Installation of encoder cable (CR751-D series)” And, the description about the measures against the noise is shown in the figure “...

  • Page 35: Connection Of Photoelectronic Sensor

    5 Preparations and 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 general input signal of the robot controller. Any general input signal number of the robot controller can be selected.

  • Page 36: Installation Of An Encoder

    5 Preparations and Connection of Equipment 5.3. Installation of an encoder When installing an encoder as follows in the turntable with the short radius, there is a possibility that the tracking precision becomes bad by the case that the direction of rotation of the table and the direction of rotation of the encoder aren't identical.

  • Page 37: Measures Against The Noise

    5 Preparations and Connection of Equipment 5.4. 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.

  • Page 38: Parameter Setting

    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”...
  • Page 39 6 Parameter Setting (3) Double-click the “Multiple CPU Setting” Set the number of CPU and this system area size (K Points) (4) Double-click the “I/O assignment” When Q173DPX unit is attached to fifth slot, change the type of slot 5 to the “Intelligent”. Tracking Parameter Setting 6-29...
  • Page 40 6 Parameter Setting (5) Click the “Detailed Setting” button. 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. (7) A power supply of a sequencer is reset.

  • Page 41: Robot Parameter Setting

    6 Parameter Setting 6.1.2. 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) Set a parameter TRMODE to 1, validate a function of tracking. (2) Specify the channel to which the encoder is connected using a parameter EXTENC.
  • Page 42 6 Parameter Setting Number Value set at Parameter Parameter Explanation factory name elements shipping Tracking TRCWDST 1 integer Distance to judge that the same workpiece is being 5.00 Workpiece tracked (mm) ↓ judgment The sensor reacts many times when the workpiece distance with the ruggedness passes the sensor.
  • Page 43 6 Parameter Setting Monitoring the encoder value When the encoder value is showed by variable monitor of “Program monitor”, the encoder value changes as follows. In this way, in the case of connection to channel 2, the encoder data is stored in “M_Enc(2)”. It is useful to change parameter EXTENC when confirming the encoder value by using “M_Enc(1)”and encoder value 1.
  • Page 44 6 Parameter Setting Common control to “M_Enc(1)” by parameter EXTENC Change the first element of a parameter EXTENC into “2” from “1”. If you reset a power supply and reflect the parameter value, the encoder value is displayed in M_Enc(1)” as follows.

  • Page 45: Example Of Three Robots' Cpu Sharing One Q173Dpx [Q Type]

    6 Parameter Setting 6.1.3. Example of three robots’ CPU sharing one Q173DPX [Q type] For example, the setting of one Q173DPX ,three robots CPU, and one encoder is shown as follows. You will be able to understand some parameters ENCUNIT* and EXTENC. [Conditions] - An encoder is connected to the channel 3.
  • Page 46 6 Parameter Setting (2) In the setting of robot CPU1 and robot CPU2, specify the value of the parameter ENCUNIT1 to “0,4”. (3) In the setting of robot CPU3, specify the value of the parameter ENCUNIT2 to “0,4”. (4) In the setting of each robot CPU(1 - 3), change parameter TRMODE to “1”. 6-36 Tracking Parameter Setting...
  • Page 47 6 Parameter Setting Parameter setting of GX Works The example of the second unit (robot CPU1) controlling Q173DPX unit. Change “Control PLC” columns to “PLC No.2” in slot 4(0-4) rows of No.5. Reset the power supply of sequencer and the robot controller after the setting was changed. Monitoring the encoder value When the encoder value is showed by variable monitor of “Program monitor”, the encoder value changes as follows.
  • Page 48 6 Parameter Setting In this way, in the case of connection to channel 3, the data of robot CPU1 and robot CPU2 is stored in “M_Enc(3)”. The data of robot CPU3 is stored in”M_Enc(6)” because parameter ENCUNIT2 is specified. It is useful to change parameter EXTENC when confirming the encoder value by using “M_Enc(1)”and encoder value 1.
  • Page 49 6 Parameter Setting In the setting of the robot CPU3, changes the first element of a parameter EXTENC into “6” from “1”. If you reset a power supply and reflect the parameter value, the encoder value is displayed in M_Enc(1)” as follows.

  • Page 50: Operation Parameters

    6 Parameter Setting 6.2. Operation Parameters The following list the setting items of parameters required to operate the robot at the optimal acceleration/deceleration. List of Operation Parameter Table 6-2 Parameter name Explanation Reference value A parameter "MEXTL" designates a coordinate system of a tool Defaults: Tool coordinate system...

  • Page 51: Dedicated Input/Output Parameters

    6 Parameter Setting 6.3. Dedicated Input/Output Parameters The following list 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.

  • Page 52: Installation Of A Sample Robot Program

    7 Installation of a sample robot program 7. Installation of a sample robot program This chapter explains the structure of the sample robot programs. Please inquire about an offer of a sample program. Refer to “RT ToolBox2 Robot Total Engineering Support Software Instruction Manual” for how to install programs to the robot controller.

  • Page 53: Teaching Operation("A1" Program)

    8 Teaching Operation(“A1” Program) 8. Teaching Operation(“A1” Program) This chapter explains the tasks carried out by using “A1” program. You can just execute “1” program and do now circular arc tracking by putting this work into effect. Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation. 8.1.

  • Page 54: Confirm The Encoder Value

    8 Teaching Operation(“A1” Program) Tool length is calculated automatically by instructing in the location of 3-8 points as follows in the screen mentioned above. 8.1.2. Confirm the encoder value An important one is a change in the encoder value in this work. Confirm whether a robot controller grasps the turn of the encoder.
  • Page 55 8 Teaching Operation(“A1” Program) Click a [Add] button and open a “Add display variables” screen. Input "M_Enc (1)" to a space "variable name", and click a [OK] button. also input "M_Enc (2)"-"M_Enc (8)" equally, and click a [OK] button. Confirm that the value of "M_Enc" changes by a revolution of a turntable. When the encoder value doesn't change, confirm the parameter setting and the wiring of "6.1.2 Robot Parameter Setting".

  • Page 56: Knowledge About Work

    8 Teaching Operation(“A1” Program) 8.1.3. Knowledge about work This chapter explains below about the contents it's necessary to know before this work. On the turntable, decide the area where the robot starting tracking (Tracking starting possible area) and the area where a robot can continue tracking a workpiece (Tracking area). [Tracking starting possible area] Figure 8-1 Tracking starting possible area [Tracking area]...

  • Page 57: Operation Procedure

    8 Teaching Operation(“A1” Program) 8.2. Operation procedure Using "A1" program, operate in the following procedures. (1) Exchange it for a use hand from a hand for tool setting. For example change it to the following hand. (2) Set the controller mode to "MANUAL". Set the T/B to "ENABLE". Ｏ/Ｐ...
  • Page 58 8 Teaching Operation(“A1” Program) (6) Press the [FUNCTION] key, and change the function display < PROGRAM > A1 < PROGRAM > A1 1'################################ 1'################################ 2 '# Conveyor circular arc tracking 2 '# Conveyor circular arc tracking 3 '# Program name : A1.prg 3 '# Program name : A1.prg 4 '# Date/Version : 2015.01.28 / 1.0 4 '# Date/Version : 2015.01.28 / 1.0...
  • Page 59 8 Teaching Operation(“A1” Program) (9) Press the [F1] (FWD) key and execute step feed. “(3)Set the encoder number to the variable "MEncNo"”is displayed. Here, specify the encoder number. If you want to change the encoder number, please edit the program as follows. (a) Display the following Statement.
  • Page 60 8 Teaching Operation(“A1” Program) (11) Press the [F1] (FWD) key and execute step feed. “(5)Put workpiece on the sensor position of the conveyor”is displayed. Move the turntable, and place the workpiece at a position where photoelectronic sensor reacts. (12) Press the [F1] (FWD) key and execute step feed. “(6)Move workpiece to the tracking area start position by conveyor”is displayed.
  • Page 61 8 Teaching Operation(“A1” Program) (13) Press the [F1] (FWD) key and execute step feed. “(7)Move the robot to the adsorption point of workpiece”is displayed. Move the robot arm to adsorption position (or initial position to be processed) of the workpiece in the Tracking starting possible area.
  • Page 62 8 Teaching Operation(“A1” Program) (15) Press the [F1] (FWD) key and execute step feed. “(9)Move workpiece to the tracking area end position by conveyor”is displayed. Move the turntable, and place the workpiece at the end position of the Tracking starting possible area. (16) Press the [F1] (FWD) key and execute step feed.
  • Page 63 8 Teaching Operation(“A1” Program) (17) Press the [F1] (FWD) key and execute step feed. “(11)Move workpiece to the tracking cancellation position by conveyor”is displayed. Move the turntable, and place the workpiece at the position to forcibly terminate the tracking. (18) Press the [F1] (FWD) key and execute step feed. “(12)Move the robot to the adsorption point of workpiece”is displayed.
  • Page 64 8 Teaching Operation(“A1” Program) (19) Press the [F1] (FWD) key and execute step feed. “(13)Absorb a workpiece. And move to the transportation position.”is displayed. Move the robot arm to a position to transport the adsorbed workpiece from the turntable (Transport destination).

  • Page 65: What To Confirm

    8 Teaching Operation(“A1” Program) 8.3. What to confirm Confirm that the following data is remembered after work. Table8-1 Overall picture of the teachings Confirm that the following variable includes the price using the variable monitor of RT ToolBox2 in confirmation of data.

  • Page 66: When Multiple Conveyers And Turntables Are Used

    8 Teaching Operation(“A1” Program) 8.4. When multiple conveyers and turntables 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 3 (encoder number “3”), kind number “2”, signal number of photoelectronic sensor “16”: Copy the "A1"...

  • Page 67: Setting Of An Operating Condition And Operations Check ("1"Program)

    9 Setting of an operating condition and operations check (“1“Program) 9. Setting of an operating condition and operations check (“1“Program) This chapter explains operations required to run “1” program. In addition, this chapter explains a method to check the operation in the condition that it was designated, and to coordinate again.

  • Page 68: Automatic Operation

    9 Setting of an operating condition and operations check (“1“Program) 9.2. Automatic operation This chapter explains how to prepare the robot before starting the system. (1) Confirm that there isn't an intervention thing in the robot movement area. (2) Set the T/B [ENABLE] switch to "DISABLE" (3) Set the controller mode to "AUTOMATIC".
  • Page 69 9 Setting of an operating condition and operations check (“1“Program) (7) Automatic operation will start when the controller [START] button is pressed. When the robot moves to the specified retracted position, to drive the turntable and place the workpiece. Confirm to be a work that is unloaded to the transport destination after following the workpiece. (10) If you check the operation, press the [STOP] button...

  • Page 70: Adjustment Of The Follow Position

    9 Setting of an operating condition and operations check (“1“Program) 9.3. Adjustment of the follow position When driving a turntable, the position where photoelectronic sensor reacts to a workpiece is different from the set position in "A1" program. Therefore, after determining the rotation speed of the turntable, you have to adjust the position with the following procedure.
  • Page 71 9 Setting of an operating condition and operations check (“1“Program) (3) Confirm that the value of the specified variable is displayed in the "Variable monitor". Displayed "M_EncSensor (1)" is the encoder value when the photoelectronic sensor has reacted to the workpiece.

  • Page 72: Adjustment Of Operating Conditions

    9 Setting of an operating condition and operations check (“1“Program) 9.4. Adjustment of operating conditions In automatic operation, if you want to adjust the vertical movement and adsorption time of the robot arm that was described in "9.1 Variable for operating conditions" should be changed in the following procedure. Start the "Program monitor"...
  • Page 73 9 Setting of an operating condition and operations check (“1“Program) (4) Click [OK] button, and confirm that was able to change the value of the variable that is specified in the "Variable Monitor". Return to the "9.2 Automatic operation”, and then check to see whether the can be corrected by implementing the automatic operation.

  • Page 74: Adjustment Of Tracking Starting Possible Area

    9 Setting of an operating condition and operations check (“1“Program) 9.5. Adjustment of Tracking starting possible area In automatic operation, if you want to adjust the Tracking starting possible area that was taught in the "8 Teaching Operation(“A1” Program)", change the following procedure. Start the "Program monitor"...
  • Page 75 9 Setting of an operating condition and operations check (“1“Program) For example, if you want the tracking started early 20mm: Image of the tracking area is as follows. Adjustment of Tracking starting possible area 9-65...

  • Page 76: Occurrence Of Error

    9 Setting of an operating condition and operations check (“1“Program) Similarly, please adjust using the "M_TrkEnd" for the end position of the tracking starting possible area. Also, please adjust using the "M_TrkStop" for the position to be forcibly terminated. 9.6. Occurrence of error When an error occurred, please confirm the "11 Troubleshooting".

  • Page 77: Maintenance Of Robot Program

    10 Maintenance of robot program 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). 10.1. 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”...
  • Page 78 10 Maintenance of robot program Number of Attribute Variable name Function Data type arrays (*1) P_TrkPAcl Condition Parameter [TRPACL] value Read/Write Position Number 1 to 8. P_TrkPDcl Condition Parameter [TRPDCL] value Read/Write Position Number 1 to 8. M_TrkBuf Condition Buffer Number Read/Write Integer Number...
  • Page 79 10 Maintenance of robot program 10.1.3. 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.
  • Page 80 10 Maintenance of robot program TrClr (tracking data clear) [Function] Clear the tracking data buffer. [Format] TrClr  [] [Terminology] (can be omitted): Specify the number of a general-purpose output to be output. Setting range:1 to The first argument of parameter “TRBUF” [Reference program] 1 TrClr 1 ' Clear the tracking data buffer No.
  • Page 81 10 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  [ , ] [ , [] [ , [] [ , ] ] ] ] [Terminology] ...
  • Page 82 10 Maintenance of robot program TrkArc (Setting of arc information) [Function] Conveyer information for a circular arc tracking is set. [Format] TrkArc□, , , , [Terminology] Specify the tracking condition number.
  • Page 83 10 Maintenance of robot program TrkChk (Tracking check function) [Function] Execute the processing depending on the state of workpiece corresponding to specified. [Format] TrkChk □ , , [] , [Terminology] Specify the condition number correspond to tracking.
  • Page 84 10 Maintenance of robot program M_TrkChk Execution result Processing Robot operation value There is workpiece information in Jump to the specified Robot does not move. the tracking buffer. . And the workpiece exists in the tracking starting possible area. (5) Number which you can enter to specify ...
  • Page 85 10 Maintenance of robot program TrkWait (Tracking wait function) [Function] Wait until workpiece correspond to appointed enters to the tracking area. [Format] TrkWait □ < Branch destination > [Terminology] :(can be omitted.) Even if the time specified as the state variable "M_TrkTime" passes, when the specified work piece does not go into tracking area, specify the label name to jump.
  • Page 86 10 Maintenance of robot program TrkMv (Tracking movement function) [Function] Execute the next processing. Validate specified interruption, Start tracking, Move to the tracking upper position by Joint interpolation movement. [Format] TrkMv □ On , [, , ] TrkMv □...
  • Page 87 10 Maintenance of robot program M_Enc (Encoder value) [Function] Read the encoder value of the designated logic encoder number. It can be changed to the optional value. [Format] [Write] M_Enc() ＝ [Read] ＝ M_Enc() [Terminology] <...
  • Page 88 10 Maintenance of robot program 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] [Write] M_EncL() ＝...
  • Page 89 10 Maintenance of robot program P_EncDlt(The encoder amount of movement) [Function] Set the amount of robot movement per encoder pulse. Or, the amount of robot movement per encoder pulse is returned. The amount of robot movement : Straight line tracking ：(X, Y, Z, 0, 0, 0, L1, L2) Circular arc tracking ：(Arc length, 0, 0, 0, 0, 0, 0, 0) [Format] [Write]...
  • Page 90 10 Maintenance of robot program P_TrkSensor [Function] The position of workpiece to which the sensor reacted is returned. [Format] [Read] = P_TrkSensor() [Terminology] ： (can be omitted.) Specify the tracking condition number. Setting range: 1 to 8 If the argument is omitted, 1 is set as the default value.
  • Page 91 10 Maintenance of robot program M_EncSensor [Function] Set the encoder data at the position in which the sensor reacts to workpiece. Or, the encoder data at the position in which the sensor reacts to workpiece is returned. The set value is set by the 1st element of a parameter "TRKENC*" (*= condition number 1-8). [Format] [Write] M_EncSensor() = ...
  • Page 92 10 Maintenance of robot program M_EncStart [Function] Set the encoder data at tracking area starting position. Or, the encoder data at tracking area starting position is returned. The set value is set by the 2nd element of a parameter "TRKENC*" (*= condition number 1-8). [Format] [Write] M_EncStart() = ...
  • Page 93 10 Maintenance of robot program M_EncEnd [Function] Set the encoder data at tracking area ending position. Or, the encoder data at tracking area ending position is returned. The set value is set by the 3rd element of a parameter "TRKENC*" (*= condition number 1-8). [Format] [Write] M_EncEnd() = ...
  • Page 94 10 Maintenance of robot program M_EncStop [Function] Set the encoder data at tracking cancellation position. Or, the encoder data at tracking cancellation position is returned. The set value is set by the 4th element of a parameter "TRKENC*" (*= condition number 1-8). [Format] [Write] M_EncStop() = ...
  • Page 95 10 Maintenance of robot program P_TrkPAcl [Function] Change the tracking acceleration coefficient of the parameter “TRPACL” temporarily. [Format] [Writing] P_TrkPAcl() = [Referencing] = P_TrkPAcl() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 ...
  • Page 96 10 Maintenance of robot program P_TrkPDcl [Function] Change the tracking deceleration coefficient of the parameter “TRPDCL” temporarily. [Format] [Writing] P_TrkPDcl() = [Referencing] = P_TrkPDcl() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting area: 1 to 8 ...
  • Page 97 10 Maintenance of robot program M_TrkBuf [Function] Specify and refer to the tracking buffer number to use. [Format] [Writing] M_TrkBuf() = [Referencing] = M_TrkBuf() [Terminology] Specify the condition number corresponding to the tracking. Setting range: 1 to 8 ...
  • Page 98 10 Maintenance of robot program M_TrkStart [Function] Specify and refer to the starting position of range in which it is possible to execute the tracking. In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate system (the coordinate value "0.00").
  • Page 99 10 Maintenance of robot program M_TrkEnd [Function] Specify and refer to the ending position of range in which it is possible to execute the tracking.. In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate system (the coordinate value "0.00").
  • Page 100 10 Maintenance of robot program M_TrkStop [Function] Specify and refer to forced ending position of range in which it is possible to execute the tracking.. In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate system (the coordinate value "0.00").
  • Page 101 10 Maintenance of robot program M_TrkTime [Function] Specify and refer to the timeout value for “TrkWait” command. [Format] [Writing] M_TrkTime() = [Referencing] = M_TrkTime() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 ...
  • Page 102 10 Maintenance of robot program P_TrkBase [Function] Specify and refer to the origin (For example, the position which a vision sensor outputs) of the workpiece to be followed. Specify the position data (For example, the position which a vision sensor outputs) used as the reference point when you teach the movement path on the workpiece, as described below The robot moves to the relative position correspond to this reference point by the movement instruction during the tracking.
  • Page 103 10 Maintenance of robot program [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 Specify the base position of the tracking. Return the base coordinates of the specified tracking. [Reference program] P_TrkBase(1) = PTBASE ’Specify the tracking base.
  • Page 104 10 Maintenance of robot program M_TrkArcEnc [Function] Refer to the encoder value which accumulated after a sensor reacts to a workpiece. [Format] [Referencing] = M_TrkArcEnc() [Terminology] : (can be omitted.) Specify the tracking condition number. Setting range: 1 to 8 If the argument is omitted, 1 is set as the default value.
  • Page 105 10 Maintenance of robot program M_TrkChk [Function] Refer to the workpiece state read from the tracking buffer when “TrkChk”, “TrkWait” command is executed. [Format] [Referencing] = M_TrkChk() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 <...
  • Page 106 10 Maintenance of robot program P_TrkWork [Function] Refer to the workpiece position read from the tracking buffer when “TrkChk”, “TrkWait” command is executed. [Format] [Referencing] = P_TrkWork() [Terminology] < Condition Number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 ...
  • Page 107 10 Maintenance of robot program M_TrkEnc [Function] Refer to the encoder value read from the tracking buffer when the “TrkChk”, “TrkWait” command is executed. [Format] [Referencing] = M_TrkEnc() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 <...
  • Page 108 10 Maintenance of robot program M_TrkKind [Function] Refer to the model number read from the tracking buffer when “TrkChk”, “TrkWait” command is executed. [Format] [Referencing] = M_TrkKind() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 <...
  • Page 109 10 Maintenance of robot program M_TrkEncNo [Function] Refer to the encoder number read from the tracking buffer when “TrkChk”, “TrkWait” command is executed. [Format] [Referencing] = M_TrkEncNo() [Terminology] < Condition number [Integer]> Specify the condition number corresponding to the tracking. Setting range: 1 to 8 <...
  • Page 110 10 Maintenance of robot program P_TrkTarget [Function] Refer to the information (“P_TrkWork”, “M_TrkEnc”) read from the tracking buffer when “TrkChk”, “TrkWait” command is executed, and the current workpiece position calculated by the state variable “P_EncDlt”. [Format] [Referencing] = P_TrkTarget [Terminology] ...
  • Page 111 10 Maintenance of robot program M_Trbfct [Function] Refer to the number of workpieces which exists in a designated buffer. [Format] [Referencing] < Numeric value > = M_Trbfct() [Terminology] ： (can be omitted.) Specify the tracking buffer number. Setting range : 1 to the 1st argument of a parameter "TRBUF"...
  • Page 112 10 Maintenance of robot program P_CvSpd [Function] Return the conveyer speed. [Format] [Referencing] < Position variable > = P_CvSpd() [Terminology] ： (can be omitted.) Specify the number of logic encoders which do a chase movement. Setting range: 1 to 8 If the argument is omitted, 1 is set as the default value ...
  • Page 113 10 Maintenance of robot program M_Hnd [Function] Set and refer to the hand open/close states corresponding to the specified . The contents of processing of this variable are same as HOpen and HClose, but it's used for a part of Wth / WthIf join mainly. [Format] [Writing] M_Hnd() = ...
  • Page 114 10 Maintenance of robot program 10.2. Timing Diagram of Dedicated Input/Output Signals 10.2.1. Robot Program Start Processing The signal timing when a robot program is started from an external device is shown below. Robot ① ② ③ ④ Turning servo ON (SRVON) Servo ON (SRVON)
  • Page 115 11 Troubleshooting Troubleshooting This section explains causes of error occurrence and actions to be taken. 11.1. Occurrence of Other Errors List of Tracking relation Errors Table 11-1 Error Error description Causes and actions number L2500 Tracking encoder [Causes] data error The data of the tracking encoder is abnormal.
  • Page 116 11 Troubleshooting Error Error description Causes and actions number 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 Q173DPX since slot3. L2580 No workpiece in the [Causes]...
  • Page 117 11 Troubleshooting 11.2. In such a case (improvement example) Explain the improvement example, when building the tracking system using the sample robot program. 11.2.1. The adsorption position shifts. When the place that shifts from the specified adsorption position has been adsorbed, the cause is investigated according to the following procedures.
  • Page 118 11 Troubleshooting 11.2.4. 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. Before sample program change After sample program change Mvs PGet Mvs PGet...
  • Page 119 12 Appendix 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. 12.1. List of Parameters Related to Tracking List of Parameters Related to Tracking Table 12-1 Setting Parameter...
  • Page 120 12 Appendix Setting Parameter Number of value at Parameter Description name elements factory shipment Tracking TRADJ1 8 real Tracking adjustment coefficient 1 0.00, 0.00, 0.00, 0.00, adjustment numbers Set the amount of delay converted to the 0.00, 0.00, coefficient 1 (X,Y,Z, conveyer speed.
  • Page 121 12 Appendix 12.2. Scene of changing parameter When the tracking function is used, the parameter need to be changed depends on operation phase. List of the parameter is shown as follow. Table 12-2 List of the user scene of changing parameter Model Parameter Operation phase...
  • Page 122 12 Appendix Model Parameter Operation phase Example Explanation CR750-Q CR750-D name CR751-Q CR751-D In case of system In case of vision tracking, if debag there is a workpiece not recognized well by vision sensor, it might reply over one recognition results to one workpiece.
  • Page 123 12 Appendix Model Parameter Operation phase Example Explanation CR750-Q CR750-D name CR751-Q CR751-D Others This parameter is a 0,0,0,0, ● ● ENCRGMN 0,0,0,0 parameter that sets the range 1000000000, of the value of state variable 1000000000, M_Enc. 1000000000, M_Enc becomes the range of 1000000000, 0-1000000000, and next to 1000000000,...
  • Page 124 12 Appendix 12.3. Expansion serial interface Connector Pin Assignment (CR750/CR751 series controller) “Figure 12-1 Connector Arrangement” shows the connector arrangement and “Table 12-3 Connectors: CNENC/CNUSR Pin Assignment” shows pin assignment of each connector. CNUSR2（CR750-D/CR751-D） CNUSR11/12/13（CR750-D） Encoder Encoder Connector: CNUSR2 Connector: CNUSR11/12/13 Connector Arrangement Figure 12-1 Connectors: CNENC/CNUSR Pin Assignment...
  • Page 126 May., 2017 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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Cr751 series

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