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ID : 5339
Calibration Procedure
The following shows a calibration procedure.
1 Confirmation of the Calibration Procedure
After confirming the calibration procedure, press [Next].
2 Confirmation of Passing Sensor
Pass through the object to the sensor.
Check that the encoder value of the tracking buffer is increased when the workpiece passes through the sensor.
Once the value is increased, press [Next].
The encoder value at the trigger signal input timing is stored in the tracking buffer.
3 Executing Teaching of Upstream Limit of the Tracking Range
Stop the workpiece at the upper end limit of the tracking range.
Then move the robot to the teaching position.
Execute robot teaching and press [Get position of the upstream limit] to get the robot position.
Checks the obtained value, and press [Next] if everything is satisfactory.
- When retrying to get the robot position, a system message is displayed to confirm whether to get the position.
- The posture at the time of getting the upstream limit is set as the default posture of holding the work.
- The height of gripping at the tracking motion is determined by the midpoint of positions obtained at the upstream limit and the downstream limit.
The obtained coordinate values can be changed. To do so, press the edit button on the bottom of the screen. Ten keys are displayed. By the ten keys, change each coordinates values.
The obtained coordinates and encoder values on both of the upstream limit and the downstream limit are used to determine the conveyor feed rate and the direction. If you change the coordinate values by the method shown above, keep in mind that the change may affect the conveyor feed rate and the direction.
4 Executing Teaching of Downstream Limit of the Tracking Range
Stop the workpiece at the lower end limit of the tracking range.
Then move the robot to the teaching position.
Execute robot teaching and press [Get position of the downstream limit] to get the robot position.
Checks the obtained value, and press [Next] if everything is satisfactory.
The midpoint between the upstream limit position and downstream limit position is the conveyor reference position.
5 Confirmation of the Calibration Result
Check the calculated parameters, and press [Finish] if everything is satisfactory.
Once the complete button is pressed, parameter setting process will start. For the extended-joint tracking, this setting process will not be performed under the Motor-ON state. A system message that asks to turn off the motor is displayed.
6 Applying the Calibration Result
A system message is displayed to confirm whether to set the calculated data to the controller. Press [OK] if everything is satisfactory.
Calculated data is set to the controller.
The setting change is not confirmed if [Cancel] is pressed.
The setting change is confirmed and returns to the "Tracking" window.
For the installation for one conveyor and one robot, this is the end of the setup.
ID : 5339