Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-141
P_EncDlt(The encoder amount of movement)
[Function]
Set the amount of robot movement per encoder pulse.
Or, the amount of robot movement per encoder pulse is returned.
The amount of robot movement :
Straight line tracking
：
(X, Y, Z, 0, 0, 0, L1, L2)
Circular arc tracking
：
(Arc length, 0, 0, 0, 0, 0, 0, 0)
[Format]
[Write]
P_EncDlt(<Encoder number>) = <Position Data>
[Read]
<Position Variables> = P_EncDlt(<Encoder number>)
[Terminology]
<Encoder number [Integer] >
：
(can be omitted.)
Specify a logic number indicating the external encoder that performs tracking operation.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value.
<Position Data [Position] >
Specify the amount of robot movement per encoder pulse.
<Position Variables [Position] >
Specify a position variable that stores amount of robot movement per encoder pulse.
[Reference Program]
P_EncDlt(1) = P1 'Amount of robot movement per encoder pulse of encoder number 1 is
set.
P2 = P_EncDlt(2) ' Amount of robot movement per encoder pulsee of encoder number 2 is
stored in positional variable.
[Explanation]
(1) The amount of robot movement per encoder pulse of specified <Encoder number> is set. Or, the amount of
robot movement per encoder pulse is returned.
(2) If tracking type is a circular arc tracking, it is set by the TrkArc command, the meaning of each element is as
follows.
X : Amount of robot movement on circular arc per encoder pulse (Unit:[mm])
(3) You can omit the step to specify <logic encoder number>.When it is omitted, logic encoder number will be
treated as "1."
(4) Error L.3110 (value of the argument outside of the range) occurs when <Encoder number> is outside a set
range.