Mitsubishi Electric CR800 Series, Instruction Manual

Page: 160 / 204

15 Maintenance of robot program
15-148 MELFA-BASIC V or MELFA-BASIC VI instruction
P_TrkPDcl
[Function]
Change the tracking deceleration coefficient of the parameter “TRPDCL” temporarily.
[Format]
[Writing]
P_TrkPDcl(<Condition number>) = <Position d ata>
[Referencing]
<Position variable> = P_TrkPDcl(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting area: 1 to 8
<Position data [Position] >
Specify the tracking deceleration coefficient.
Setting area: For each component, 0.1 to 10.0
<Position variable [Position] >
Return the specified tracking deceleration coefficient
[Reference program]
P_TrkPAcl(1) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0, 1.0, 1.0) ’ Specify the tracking acceleration coefficient.
P_TrkPDcl(1) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0, 1.0, 1.0) ’ Specify the tracking deceleration coefficient.
・・・・・
*LTRST
TrkMv On, PGTUP, 1, *S91STOP ’Start the interrupt processing->Trk On-> Move to the tracking upper
position
[Explanation]
(1) Specify the tracking deceleration coefficient used in tracking command “TrkMv”.
(2) You can confirm the tracking deceleration coefficient by referencing “P_TrkPDcl”.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.