Mitsubishi Electric CR800 Series, Instruction Manual

Page: 179 / 204

15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-167
M_TrkType
[Function]
Specify and refer to the tracking function type.
[Format]
[Writing]
M_TrkType (<Condition number >) = <Value>
[Referencing]
<Numeric variable > = M_TrkType (<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range : 1 to 8
<Value [Integer] >
Specify the tracking function type.
Setting range
：
0 = Straight line conveyer tracking
1 = Circular arc conveyer tracking
< Numeric Variable
[Integer]
>
Return the specified tracking function type.
[Reference program]
M_TrkType (1) = 1 ' The tracking function type corresponding to the condition number 1 uses
"Circular arc".
・・・・・
TrkChk 1, PSave, PWait, *LTRST ' Check the workpiece in the tracking buffer which is specified.
[Explanation]
(1) Specify the tracking function type.
(2) The specified tracking function type can be checked by referring to "M_TrkType".
(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) When values to be specified in <Value> are out of range, the L3110 (Argument value range over) error
occurs.