Mitsubishi Electric CR800 Series User manual

CR800 series controller
Tracking Function
Instruction Manual
Mitsubishi Electric Industrial Robot
BFP-A3520-B

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.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

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. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

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. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R/CR800-Q controller. Failure to observe
this may result in property damage or bodily injury because the Handy GOT can
automatically operate the robot regardless of whether the operation rights are
enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
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.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

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. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the
safety against unauthorized access via the Internet, take measures such as
installing a firewall.

Revision history
Date of print
Specifications No.
Details of revisions
2017-05-30
BFP-A3520
First print
2018-02-01
BFP-A3520-A
・
The CR800-Q controller was added.
2020-04-10
BFP-A3520-B
・
Added information for the RV-8CRL-D.
・
Added information for the RV-5AS-D.

■Preface
Thank you very much for purchasing Mitsubishi Electric Industrial Robot.
The high speed and accuracy tracking function allows robots to follow workpieces on a conveyer with high speed and
accuracy. The circular arc tracking function allows robots to follow workpieces on a turntable and a circular arc
conveyer. These functions enable the workpieces to be transported, lined up, and processed without having to stop
the conveyer.
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 high speed and accuracy tracking function and the circular arc 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.
The circular arc tracking function does not support vision tracking.
・
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.
Copyright(C) 2017-2020 MITSUBISHI ELECTRIC CORPORATION

[Contents]
1. Overview ...........................................................................................................................................................................................................................1-1
1.1. Function overview...............................................................................................................................................................................................1-1
1.1.1. What is high Speed and Accuracy Tracking Function?............................................................................................................. 1-1
1.1.2. What is the circular arc tracking function?....................................................................................................................................1-1
1.2. System that can achieve .................................................................................................................................................................................1-2
1.2.1. High speed and accuracy tracking function...................................................................................................................................1-2
1.2.2. Circular arc tracking function..............................................................................................................................................................1-4
1.3. The terminology explanation...........................................................................................................................................................................1-7
2. System Configuration...................................................................................................................................................................................................2-8
2.1. Components...........................................................................................................................................................................................................2-8
2.1.1. Robot controller enclosure products................................................................................................................................................2-8
2.1.2. Devices Provided by Customers ........................................................................................................................................................2-8
2.2. Example of System Configuration ..............................................................................................................................................................2-10
2.2.1. Configurations for the high speed and accuracy tracking function ...................................................................................2-10
2.2.2. Configuration for the circular arc tracking function.................................................................................................................2-12
3. Specification..................................................................................................................................................................................................................3-13
3.1. Tracking Specifications...................................................................................................................................................................................3-13
3.1.1. D type or R type......................................................................................................................................................................................3-13
3.1.2. Q type..........................................................................................................................................................................................................3-14
3.2. Q173DPX（manual pulser input）unit specification...............................................................................................................................3-15
4. Operation Procedure..................................................................................................................................................................................................4-21
4.1. Operation procedure for constructing a high speed and accuracy tracking system ............................................................4-21
4.2. Operation procedure for constructing a circular arc tracking system........................................................................................4-22
5. Connection of Equipment.........................................................................................................................................................................................5-23
5.1. Connection of Equipment [D type or R type]........................................................................................................................................5-23
5.1.1. Connection with encoder for conveyer and encoder cable...................................................................................................5-23
5.1.2. Installation of encoder cable ..............................................................................................................................................................5-25
5.1.3. Connection of Photoelectronic Sensor .........................................................................................................................................5-26
5.1.4. Connection of Vision Sensor..............................................................................................................................................................5-26
5.2. Connection of Equipment [Q type]............................................................................................................................................................5-27
5.2.1. Connection of Unit .................................................................................................................................................................................5-27
5.2.2. Connection with encoder for conveyer and encoder cable...................................................................................................5-27
5.2.3. Connection of Photoelectronic Sensor .........................................................................................................................................5-29
5.2.4. Connection of Vision Sensor..............................................................................................................................................................5-30
5.3. Installation of an Encoder in the Circular Arc Tracking System...................................................................................................5-31
5.4. Measures against the noize ..........................................................................................................................................................................5-32
6. Parameter Setting.......................................................................................................................................................................................................6-33
6.1. Tracking Parameter Setting..........................................................................................................................................................................6-33
6.1.1. Robot CPU parameter setting ...........................................................................................................................................................6-33
6.1.2. Sequencer CPU Parameter Setting [Q type]..............................................................................................................................6-38
6.1.3. Example of three robot’s CPU sharing one Q173DPX [Q type]..........................................................................................6-41
6.2. Operation Parameters.....................................................................................................................................................................................6-46
6.3. Dedicated Input/Output Parameters ........................................................................................................................................................6-47
7. Installation of a sample robot program ...............................................................................................................................................................7-48
8. Calibration of Conveyer and Robot Coordinate Systems (“A1”program) ...........................................................................................8-49
8.1. Preliminary Preparaions..................................................................................................................................................................................8-49
8.1.1. Setting of tool length.............................................................................................................................................................................8-49
8.1.2. Confirm the encoder value..................................................................................................................................................................8-50
8.2. Operation procedure........................................................................................................................................................................................8-52
8.3. Confirmation after operation ........................................................................................................................................................................8-56
8.4. When multiple conveyers are used ............................................................................................................................................................8-56
9. Calibration of Vision Coordinate and Robot Coordinate Systems (“B1”program)...........................................................................9-57

9.1. Operation procedure........................................................................................................................................................................................9-57
9.2. Confirmation after operation ........................................................................................................................................................................9-64
9.3. When multiple conveyers are used ............................................................................................................................................................9-64
10. Workpiece Recognition and Teaching (“C1”program).......................................................................................................................... 10-65
10.1. Conveyer Tracking....................................................................................................................................................................................10-65
10.1.1. Operation procedure......................................................................................................................................................................10-65
10.1.2. Confirmation after operation......................................................................................................................................................10-68
10.1.3. When multiple conveyers are used..........................................................................................................................................10-68
10.2. Vision Tracking...........................................................................................................................................................................................10-69
10.2.1. Tasks....................................................................................................................................................................................................10-69
10.2.2. Operation procedure......................................................................................................................................................................10-77
10.2.3. Confirmation after operation......................................................................................................................................................10-82
10.2.4. When multiple conveyers are used..........................................................................................................................................10-82
11. Teaching and Setting of Adjustment Variables (“1”program) ..........................................................................................................11-83
11.1. Teaching........................................................................................................................................................................................................11-83
11.2. Adjusting the operating conditions of variables............................................................................................................................11-84
11.3. Automatic Operation................................................................................................................................................................................ 11-86
11.4. Adjustment of operating conditions...................................................................................................................................................11-87
11.5. Adjustment of Tracking starting possible area ............................................................................................................................. 11-89
11.6. Occurrence of error................................................................................................................................................................................. 11-91
12. Teaching of the Circular Arc Tracking (“A1”Program)....................................................................................................................... 12-92
12.1. Preliminary preparations ........................................................................................................................................................................12-92
12.1.1. Setting of tool length.....................................................................................................................................................................12-92
12.1.2. Confirm the encoder value..........................................................................................................................................................12-93
12.1.3. Knowledge about work ..................................................................................................................................................................12-95
12.2. Operation procedure................................................................................................................................................................................12-96
12.3. What to confirm........................................................................................................................................................................................12-104
12.4. When multiple conveyers and turntables are used ...................................................................................................................12-105
13. Setting of an operating condition and operations check (“1“Program).......................................................................................13-106
13.1. Variable for operating conditions......................................................................................................................................................13-106
13.2. Automatic operation...............................................................................................................................................................................13-107
13.3. Adjustment of the follow position.....................................................................................................................................................13-108
13.4. Adjustment of operating conditions.................................................................................................................................................13-110
13.5. Adjustment of Tracking starting possible area ...........................................................................................................................13-112
13.6. Occurrence of error...............................................................................................................................................................................13-114
14. Sensor Monitoring Program (“CM1”program) .......................................................................................................................................14-115
14.1. High speed and accuracy tracking system (for conveyer tracking)...................................................................................14-115
14.2. High speed and accuracy tracking system (for vision tracking) ..........................................................................................14-115
14.3. Circular arc tracking system (for conveyer tracking) ..............................................................................................................14-115
15. Maintenance of robot program.....................................................................................................................................................................15-116
15.1. MELFA-BASIC V or MELFA-BASIC VI instruction .................................................................................................................15-116
15.1.1. List of Instructions.......................................................................................................................................................................15-116
15.1.2. List of Robot Status Variables................................................................................................................................................15-117
15.1.3. Explanation of Tracking Operation instructions...............................................................................................................15-119
15.2. Timing Diagram of Dedicated Input/Output Signals .................................................................................................................15-170
15.2.1. Robot Program Start Processing ...........................................................................................................................................15-170
16. In such a case (improvement example)....................................................................................................................................................16-171
16.1. The adsorption position shifts (high speed and accuracy tracking system (conveyer tracking))..........................16-171
16.2. The adsorption position shifts (high speed and accuracy tracking system (vision tracking)).................................16-173
16.3. The adsorption position shifts (circular arc tracking)..............................................................................................................16-175
16.4. Make adsorption and release of the work speedy .....................................................................................................................16-176
16.5. Make movement of the robot speedy .............................................................................................................................................16-176
16.6. Restore backup data to another controller ..................................................................................................................................16-176
16.7. Circular arc movement in Tracking..................................................................................................................................................16-177
16.8. Draw the square while doing the Tracking....................................................................................................................................16-178
17. Troubleshooting..................................................................................................................................................................................................17-179
17.1. Occurrence of errors of Tracking and Vision Sensor..............................................................................................................17-179

18. Appendix................................................................................................................................................................................................................18-184
18.1. List of Parameters Related to Tracking ........................................................................................................................................18-184
18.2. List of Parameters Related to Vision Sensor..............................................................................................................................18-186
18.3. Scene of changing parameter ............................................................................................................................................................18-187
18.4. Expansion serial interface connector pin assignment (CR800 series controller).........................................................18-188
18.5. Calibration sheet .....................................................................................................................................................................................18-189

1 Overview
Function overview 1-1
1.
Overview
1.1.
Function overview
The tracking function has the following two functions: the high speed and accuracy tracking function, which
allows robots to follow workpieces on a conveyer with high speed and accuracy, and the circular arc tracking
function, which allows robots to follow workpieces on a turntable and a circular arc conveyer. These functions
enable the workpieces to be transported, lined up, and processed without having to stop the conveyer.
Table 1-1 Overview of the tracking function
Tracking function
Conveyer tracking
Vision tracking
High speed and accuracy
tracking function
○○
Circular arc tracking function
○
Not supported
1.1.1.
What is high Speed and Accuracy Tracking Function?
High speed and accuracy tracking function allows a robot to follow workpieces moving on a conveyer with high
speed and accuracy. 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 workpiece 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) It is 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) It increases in the conveyance ability about 15 % (The ratio of our company) compared with the
conventional tracking function.
5) The tracking function can be easily achieved by using Mitsubishi's robot command MELFA-BASIC V or
MELFA-BASIC VI.
6) System construction is made easy by use of sample programs.
1.1.2.
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. It also eliminates the need for mechanical fixtures and so forth required to fix workpiece positions.
The features of this function are described below.
1) It is possible to follow lined-up workpieces moving on a turntable and a circular arc conveyer while
working on them(conveyer tracking making use of photoelectronic sensors)
2) It is possible to follow changes of movement speed due to automatic calculation of conveyer movement
speed.
3) The tracking function can be easily achieved by using Mitsubishi's robot command MELFA-BASIC V or
MELFA-BASIC VI.
4) System construction is made easy by use of sample programs.

1 Overview
1-2 System that can achieve
1.2.
System that can achieve
1.2.1.
High speed and accuracy tracking function
With high speed and accuracy tracking function, the example of the system that can be achieved is shown as
following.
Table 1-2 Example of system that can be achieved by high speed and accuracy tracking function
No.
Example of the system
1
When a robot picks the workpieces moving on a conveyer, it is tracking. (transportation)
2
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.
3
A robot decorates (processing) the workpieces moving on a conveyer while tracking.
4
A robot attaches the parts (assembling) with the workpieces moving on a conveyer while
tracking.
5
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 while tracking, not the vision sensor.
6
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 conveyer B.
7
The tracking is done with an encoder of line driver (differential motion) output type.
8 Note1)
The tracking is done with an encoder of voltage output/open collector type.
Note1) To use D type products (excluding the RV-5AS-D) or R type products in this system, the Encoder
distribution unit (2F-YZ581) is required. Please refer to the Encoder Distribution Unit Manual
(BFP-A3300) for details.

1 Overview
System that can achieve 1-3
Tracking is primarily intended for applications such as the following.
Transporting and lining up workpieces moving on a conveyer
A vision camera detects workpieces moving on a conveyer and robots transport and line up them on pallets, without
having to stop the conveyer.
Tracking on conveyers
Robots transport and line up workpieces moving on a conveyer on pallets moving on another conveyer, without
having to stop the conveyers.

1 Overview
1-4 System that can achieve
1.2.2.
Circular arc tracking function
With the circular arc tracking function, the example of the system that can be achieved is shown as following.
Table 1-3 Example of system that can be achieved by the circular arc tracking function
No.
Example of the system
1
A robot can catch the workpieces moving on a circular arc conveyer while tracking.
2
A robot can decorate (processing) the workpieces moving on a circular arc conveyer while
tracking.
3
A robot can attach the parts (assembling) with the workpieces moving on a circular arc
conveyer while tracking.
4
A robot can catch the workpieces moving on a circular arc conveyer while tracking, and a
robot places the workpieces while tracking to marking on a straight line conveyer.
5
The tracking is done with an encoder of line driver (differential motion) output type.
6Note1)
The tracking is done with an encoder of voltage output/open collector type.
Note1) To use D type products (excluding the RV-5AS-D) or R type products in this system, the Encoder
distribution unit (2F-YZ581) is required. Please refer to the Encoder Distribution Unit Manual
(BFP-A3300) for details.

1 Overview
System that can achieve 1-5
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]
↓
After - [In case of a circular arc conveyer]

1 Overview
1-6 System that can achieve
Point Tracking distance becomes long, robot can do much work!
Before - [In case of a straight conveyer]
↓
After - [In case of a circular arc conveyer]

1 Overview
The terminology explanation 1-7
1.3.
The terminology explanation
Table 1-4 The terminology explanation for tracking
Term
Explanation
D type
CR800-D series robot controller
R type
CR800-R series robot controller
Q type
CR800-Q series robot controller
High speed and accuracy
tracking function
The tracking function allows a robot to follow workpieces moving on a
conveyer with high speed and accuracy
. With this function, it becomes
possible to transport line up and process workpieces without having to stop
the conveyer.
Circular arc tracking
function
The conveyer tracking allows a robot to follow workpieces lining up on a
turntable and a circular arc conveyer. With this function, it becomes possible
to transport, process workpieces.
Conveyer tracking
The conveyer tracking allows a robot to follow workpieces lining up on a
conveyer. With this function, it becomes possible to transpo
rt, 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.
Physical encoder number
Physical encoder numbers a number of the encoder physically allocated
according to a certain rule.
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.
SKIP input
SKIP input is an input for receiving signal from vision sensor.

2 System Configuration
2-8 Components
2.
System Configuration
2.1.
Components
2.1.1.
Robot controller enclosure products
The configuration of the products related to the high speed and accuracy tracking function and the circular arc
tracking function, which are enclosed with the robot controller, is shown in "Table 2-1List of Configuration in the
tracking functional-related product".
Table 2-1 List of Configuration in the tracking functional-related product
Product
Model name
Remark
Instruction Manual
BFP-A3520
Stored on the CD-ROM included with the
product.
Sample program
－
Please refer to “7 Installation of a sample robot
program” for the sample robot program.
2.1.2.
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.
Table 2-2 List of Devices Provided by Customers
Target type
Name of devices to be
provided by customers
Model Quantity Remark
D/R
Q
● ●
Hand
－
1
●●
Hand sensor
－
(1)
Used to confirm that workpieces are
gripped correctly. Provide as
necessary.
●●
Solenoid valve set
See the Remark
column (1)
Different models are used depending
on the robot used. Check the robot
version and provide as necessary.
● ●
Hand input cable
●●
Calibration jig
－
(1)
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.
●
Manual pulser input
unit
Q173DPX
1
Manual pulser input unit for encoder
pulse and photoelectronic sensor
● ●
Conveyer
－
1
●●
Encoder
[Confirmed operation
product]
Omron encoder
E6B2-CWZ1X-1000/
E6B2-CWZ1X-2000
1
[D type or R type]
Differential output type (line driver
output)
[Q type]
Voltage output/open collector type
Differential output type (line driver
output)
●
Encoder cable
－
1
Shielded twisted pair cable
●
Encoder cable
2D-CBL05/
2D-CBL15
1
Cable connected to the Q173DPX
unit
●
5V power supply
－
1
+5V DC (±10%): For Encoder
* In the case of Q type, the Q173DPX
unit supplies 5V power via the
encoder cable.
●●
24V power supply
－
1
+24V DC (±10%): For the
photoelectronic sensor or vision sensor
●●
RT ToolBox3
3F-14C-WINE/
3F-15C-WINE/
3F-16D-WINE
1
Please refer to the instruction manual
of RT ToolBox3 for the details of the
personal computer specifications.