Mitsubishi Electric CR800 Series, Instruction Manual

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15 Maintenance of robot program
15-116 MELFA-BASIC V or MELFA-BASIC VI instruction
15.
Maintenance of robot program
This chapter explains information required when maintaining the sample robot programs (robot program
language MELFA - BASIC V or MELFA - BASIC VI, and dedicated in put/output signals).
15.1.
MELFA-BASIC V or MELFA-BASIC VI instruction
The lists of instructions, status variables and functions related to tracking operation are shown below.
Refer to the separate manual "Detailed Explanations of Functions and Operations" for further information about
MELFA - BASIC V or MELFA - BASIC VI.
15.1.1.
List of Instructions
Table 15-1 List of Instructions
Instruction
name
High speed
and accuracy
tracking
Circular arc
tracking
Function
TrClr
○ ○
Clear the tracking data buffer.
TrWrt
○ ○
Write workpiece data in the tracking data buffer.
TrRd
○ ○
Read workpiece data from the tracking data buffer.
TrkChk
○ ○
Execute the processing depending on the state of workpiece
corresponding to <Condition number> specified.
TrkWait
○ ○
Wait until workpiece corresponding to <Condition number>
specified enters to the tracking area.
TrkMv
○ ○
Execute the next processing. Validate specified interruption, Start
tracking, Move to the tracking upper position by Joint interpolation
movement.
TrkFine
○
T he accuracy at the tracking is improved until “TrkFine Off” is
executed.
TrkTrg
○
Request the specified vision sensor to capture an image, and
acquires encoder value after the SKIP input recei ves the signal
from the vision sensor.
NVOpen
○
Connects with the vision sensor and logs on to the vision sensor.
NVClose
○
Cuts off the connection with vision sensor.
NVLoad
○
Puts the specified vision program into the state in which it can be
started.
EBRead
○
Reads the data for which the tag name of the vision sensor is
specified.
TrkArc
○
Sets circular arc conveyer information.