Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-124 MELFA-BASIC V or MELFA-BASIC VI instruction
TrkChk (Tracking check function)
[Function]
Execute the processing depending on the state of workpiece corresponding to <Condition nu mber> specified.
[Format]
TrkChk □ <Condition number> , <Starting position> , [<Waiting position>] , <Branch destination>
[Terminology]
<Condition number [Integer] >
Specify the condition number correspond to tracking.
Setting range: 1 t o 8
<Starting position [Position] >
When there is no workpiece in tracking buffer(no workpiece on the conveyor), specify the starting
position to which robot moves at the beginning of the system. Mainly, specify the starting position as the
system to which robot moves at the beginning of the system.
<Waiting position [Position] > : (can be omitted.)
Specify the waiting position until workpiece enters a tracking possible area.
In the case of vision tracking, a robot moves to the position which has grasped the position through
which workpiece flows and changed the value of X and C coo rdinates, or Y and C coordinates from the
value of X and Y of a state variable "P_EncDlt" to the specified <Waiting position>.
(*)It is effective for X or Y coordinates in “P_EncDlt”, it does not support Z -coordinates.
If you omit <Waiting position>, eve n if workpiece flows, the robot does not move.
By omitting <Waiting position>, you can move to the fixed position. And you can move to the arranged
position by using state variable “P_TrkTarget”.
<Branch destination [label] >
Specify the label name that jumps when specified workpiece can be followed.
Workpiece movement direction
Tracking
area
Forced
Stop area
Object
workpiece
<Waiting position>
Robot operating
Position by “TrkChk”