Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-118 MELFA-BASIC V or MELFA-BASIC VI instruction
Variable name
Number of
arrays
Function
Attribute
(*1)
Data type
M_TrkArcEnc Condition
Number
1 to 8.
The encoder value towards which the
workpiece advanced on the arc after a
sensor reacted
R Long-precision
real number
M_TrkChk Condition
Number
1 to 8.
TrkChk result R Integer
P_TrkWork Condition
Number
1 to 8.
Workpiece position when the sensor
taken out from the tracking buffer reacts.
R Posi tion
M_TrkEnc Condition
Number
1 to 8.
Workpiece Encoder when the sensor
taken out from the tracking buffer reacts.
R Long-precision
real number
M_TrkKind Condition
Number
1 to 8.
Model number of the workpiece taken out
from the tracking buffer.
R Integer
M_TrkEncNo Condition
Number
1 to 8.
Encoder number taken out from the
tracking buffer.
R Integer
P_TrkTarget - The workpiece coordinate where the robot
is following
R Position
M_Trbfct buffer No.
1 to The first
argument of
parameter
[TRBUF]
Number of data items stored in the tracking
buffer
R Integer
P_CvSpd
number of
encoders
1 to 8
Conveyer speed (mm, rad/sec) R Position
M_Hnd Hand Number
1 to 8
Hand open/close instruction and
Hand open/close states.
※
Used when you open or close the hand
during “WthIf”.
R/W Integer
M_TrkType Condition
Number
1 to 8.
The type of the tracking function
0 – Straight line tracking
1 – Circular arc tracking
R Integer
P_TrkPixel Condition
Number
1 to 8.
Workpiece pixel position when the sensor
taken out from the tracking buffer reacts.
R Position
M_NvOpen Vision Sensor
Number
1 to 8
Ind icates the vision sensor line connection
status.
R Integer