Mitsubishi Electric CR800 Series, Instruction Manual

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15 Maintenance of robot program
15-138 MELFA-BASIC V or MELFA-BASIC VI instruction
TrkArc (Setting of arc information)
[Function]
Conveyer information for a circular arc tracking is set.
[Format]
TrkArc□<Condition number>, <Encoder number>, <Circular arc position 1>, <Circular arc position 2>,
<Circular arc position 3>
[Terminology]
<Condition number [integer] >
Specify the tracking condition number.
Setting range: 1 to 8
<Encoder number [integer] >
Specify a logic number indicating the external encoderthat performs tracking operation.
Setting range: 1 to 8
<Circular arc position 1 [position] >
Specify tracking area starting position.
<Circular arc position 2 [position] >
Specify tracking area ending position.
<Circular arc position 3
[position]
>
Specify tracking cancellation position.
[Reference Program]
1 TrkArc 1, 1, P_107(1), P_108(1), P_109(1) 'Circular arc tracking conveyer information is set
[Explanation]
(1) Conveyer information for a circular arc pursuit is calculated from "position data which were specified with an
argument"(<Circular arc position 1>, <Circular arc position 2>, <Cir cular arc position 3>) and "encoder data
which were set in robot status variable"(M_EncSensor, M_EncStart, M_EncEnd, M_EncStop).
(2) < Circular arc position 1 >< Circular arc position 2 >< Circular arc position 3> means < starting position ><
ending position >< cancellation position > of an arc.
(3) Execute TrkArc before beginning a circular arc tracking.
(4) When this command is executed, the amount of robot movement per encoder pulse is set to robot status
variable P_EncDlt.
(5) When this command is executed, the position in which the sensor reacts to workpiece is set to robot status
variable P_TrkSensor.
(6) When this command is executed, the value of “Circular arc tracking(1)”is set to robot status variable
M_TrkType.
(7) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.
(8) Error L.3110 (value of the argument outside of the range) occurs when <Encoder number> is outside a set
range.
(9) Error occurs when there is the same position in three specified points or when three point s are being on the
straight line.