Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-120 MELFA-BASIC V or MELFA-BASIC VI instruction
TrClr (Tracking data clear)
[Function]
Clear the tracking data buffer.
[Format]
TrClr

[<Buffer number>]
[Terminology]
<Buffer number
[integer]
>
(can be omitted):
Specify the number of a general-purpose output to be output.
Setting range:1 to The first argu ment of parameter “TRBUF”
[Reference program]
1 TrClr 1 ' Clear the tracking data buffer No. 1.
2 *LOOP
3 If M_In(8)=0 Then GoTo *LOOP ' Jump to *LOOP if input signal No. 8, to which a photoelectronic
sensor is connected, is OFF.
4 M1#=M_Enc(1) ' Acqu ire the data of encoder number 1 at the time when input signal
No. 8 is turned on and store it in M1#.
5 TrWrt P1, M1#,MK ' Write workpiece position data P1, encoder value M1# at the time an
image is acquired and model number MK into the buffer.
[Expla nation]
(1) Clear information stored in specified tracking buffer.
(2) Execute this instruction when initializing a tracking program.