Mitsubishi Electric CR800 Series, Instruction Manual

Page: 168 / 204

15 Maintenance of robot program
15-156 MELFA-BASIC V or MELFA-BASIC VI instruction
M_TrkArcEnc
[Function]
Refer to the encoder value which accumulated after a sensor reacts to a workpiece.
[Format]
[Referencing]
<Numeric value> = M_TrkArcEnc( <Condition number>)
[Terminology]
<Condition number [Integer] >: (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.
< Numeric value [Long-precision real number] >
Return the encoder value which accumulated after a sensor reacts to a workpiece.
[Reference Program]
MLimit = M_EncStop(1) – M_EncSensor(1) ' the encoder value which accumulated after a sensor
reacts to a workpiece is calculated
Def Act 1, M_TrkArcEnc(1) > MLimit Goto *S91STOP ' The definition which interrupts if the termination
location is exceeded
・・・・・
Act 1 = 1 ' Interrupt enable
[Explanation]
(1) You can check the encoder value which accumulated after a sensor reacts to a workpiece.
(2) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(3) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.