Mitsubishi Electric CR800 Series, Instruction Manual

Page: 140 / 204

15 Maintenance of robot program
15-128 MELFA-BASIC V or MELFA-BASIC VI instruction
TrkFine(Tracking follow positioning function)
[Function]
T he accuracy at the tracking is improved until “TrkFine Off” is executed.
[Format]
TrkFine □ On
TrkFine □ Off
[Reference program]
M_TrkBuf(1) = 1 ’ <Buffer number> is “1".
P_TrkBase(1) = PTBASE ’ P_TrkBase(1) variable is PTBASE variable.
・・・・・
'/// Tracking buffer check ///
*LBFCHK
TrkChk 1, PSave, PWait, *LTRST ’No workpiece- >PSave/ Wait fo r the workpiece- >PWait/
Tracking possible- >Jump to “LTRST”.
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ’ 0:No workpiece / 1: Workpiece passed over - >“LBFCHK”.
TrkWait *LBFCHK ’ Wait for the workpiece / Jump to “LBFCHK” at the timeout.
・・・・・
'/// Start tracking operation ///
*LTRST
TrkFine On ’Validate TrkFine
TrkMv On, PGTUP, 1, *S91STOP ’Start the interrupt check->Trk On->Move to the tracking upper
position / In the case of exceeding the distance specified by
“ M_TrkStop” - Trk Off→Jump to ”S91STOP”
・・・・・
adsorption / Release / assembly etc.
・・・・・
TrkFine Off ’ Invalidate TrkFine
TrkMv Off ’Stop the interrupt check -> Trk Off
[Explanation]
(1) The system default value is TrkFine Off.
(2) When the tracking function valid state (Trk On), the TrkFine command will be ignored even if it is valid (i.e., it
will be treated as invalid, but the status will be kept).
(3) When the follow positioning function valid state (TrkFine On), the Cnt command will be ignored even if it is
valid (i.e., it will be treated as invalid, but the status will be kept).
(4) When the follow positioning function valid state (TrkFine On), the Fine command will be ignored even if it is
valid (i.e., it will be treated as invalid, but the status will be kept).