Mitsubishi Electric CR800 Series, Instruction Manual

Page: 174 / 204

15 Maintenance of robot program
15-162 MELFA-BASIC V or MELFA-BASIC VI instruction
M_TrkEncNo
[Function]
Refer to the encoder number re ad from the tracking buffer when “TrkChk”, “TrkWait” command is executed.
[Format]
[Referencing]
<Numeric variable> = M_TrkEncNo(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
< Numeric variable [Long-precision real number] >
Return the encoder number read from the tracking buffer correspond to the specified condition number.
[Reference program]
M_TrkBuf(1) = 1 ’ Tracking buffer corresponding to th e condition number 1 uses number 1.
・・・・・
TrkChk 1, P1, PWAIT, *LTRST ’ Check the workpiece of the specified tracking buffer.
・・・・・
MEncNo = M_TrkEncNo(1) ’ Substitute the encoder number read from the tracking buffer 1.
[Explanation]
(1) You can confirm the e ncoder number read from the tracking buffer when “TrkChk”, “TrkWait” command is
executed.
(2) If there is no data in the tracking buffer, the data will be cleared.
(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.
(5) If you execute the writing to “M_TrkEncNo”, L3210 (This vari able is write protected) error occurs.