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15 Maintenance of robot program
15-142 MELFA-BASIC V or MELFA-BASIC VI instruction
P_TrkSensor
[Function]
The position of workpiece to which the sensor reacted is returned.
[Format]
[Read]
<Position Variables> = P_TrkSensor(<Condition number>)
[Terminology]
<Condition number
[Integer]
>
:
(can be omitted.)
Specify the tracking condition number.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value.
<Position Variables
[Position]
>
Specify a position variable that stores the position of workpiece to which the sensor reacts.
[Reference Program]
PWrk = P_TrkSensor(1)
'Workpiece position is stored in positional variable.
TrWrt PWrk, MEncData#, MWrkNo, 1, MEncNo
' Workpiece information is written in a tracking buffer.
[Explanation]
(1)
The position of workpiece to which the sensor of specified <Condition number> reacted is returned.
(2)
When the "TrkArc" and "TrkChk" command isn't executed, the value of all zero returns.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(4)
Error L.3110 (value of the argument outside of the range) occurs when <Condit
ion number> is outside a set
range.
(5)
This variable is read only.
Содержание CR800 Series
Страница 2: ......
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Страница 29: ...3 Specification Q173DPX manual pulser input unit specification 3 17 3 Specification of hardware 7 1ms ...
Страница 202: ...18 Appendix 18 190 Calibration sheet ...
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Страница 204: ...Apr 2020 MEE Printed in Japan on recycled paper Specifications are subject to change without notice ...