Mitsubishi Electric CR800 Series, Instruction Manual

Page: 138 / 204

15 Maintenance of robot program
15-126 MELFA-BASIC V or MELFA-BASIC VI instruction
TrkWait (Tracking wait function)
[Function]
Wait until workpiece correspond to appointed <Condition number> enters to the tracking area.
[Format]
TrkWait □ < Branch destination >
[Terminology]
<Branch destination [label] > :(can be omitted.)
Even if the ti me 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.
If < Branch destination > is omitted, the timeout does not occur, and workpiece information is written into
the tracking buffer by “TrWrt”, waits until the workpiece enters to the tracking possible area.
[Reference program]
M_TrkTime(1) = 60 ’ The timeout period is 60 seconds.
・・・・・
'/// Tracking buffer check ///
*LBFCHK
TrkChk 1, PSave, PWait, *LTRST ’No workpiece- >PSave/ Wait for the workpiece - >PWait/
Tracking possible- >Jump to “LTRST”.
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ’ 0:No workpiece / 1: Workpiece passed over- >“LBFCHK”.
TrkWait *LBFCHK ’ Wait for the workpiece / Jump to “LBFCHK” at the timeout.
[Explanation]
(1) Take workpiece information out of “TrkChk” , wait until the workpiece enters to the range specified for state
variable “M_TrkStart” and “M_TrkEnd”.
(2) When work piece passes away by discontinuation etc., the following work piece information is taken out from
a tracking buffer, and it waits until the work piece goes into the range specified as a state variable
"M_TrkStart" and "M_TrkEnd."
(3) If spe cified workpiece does not enter to the tracking area when the time specified for state variable
"M_TrkTime" is exceeded at waiting time, jump to <Branch destination>.
(4) When robot state variable "M_TrkBuf" is not executed, the buffer number is assumed to be “1".
(5) If <Branch destination> is omitted or state “M_TrkTime” is “0.00”, the timeout does not occur , and workpiece
information is written in into the tracking buffer by “TrWrt”, waits until the workpiece enters to the tracking
possible area.
(6) If you appoint the label which does not exist as < Branch destination>, error 3600_00000 (Jump destination
does not exist) occurs.