Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-143
M_EncSensor
[Function]
Set the encoder data at the position in which the sensor reacts to workpiece.
Or, the encoder data at the position in which the sensor reacts to workpiece is returned.
The set value is set by the 1st element of a parameter "TRKENC*" (*= condition number 1 -8).
[Format]
[Write]
M_EncSensor(<Condition number>) = <Numeric value>
[Read]
<Numeric Variable> = M_EncSensor(<Condition number>)
[Terminology]
<Condition number [Integet] >
：
(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.
<Numeric value [Long-precision real number] >
Specify the encoder data at the position in which the sensor reacts to workpiece.
Setting range: Parameter ”ENCRGMN” to “ENCRGMX”
<Numeric Variable [Long-precision real number] >
Specify a numeric variable that current the encoder data being set now.
[Reference Program]
M_EncSensor(1) = M_Enc(1) ' Encoder data at the posi tion in which the sensor reacts to workpiece is
gotten.
・・・
M_EncStart(1) = M_Enc(1) ' Encoder data at tracking area starting position is gotten.
P_107(1) = P_Fbc(1) ' Robot current position is gotten.
・・・
M_EncEnd(1) = M_Enc(1) ' Encoder data at tracking area ending position is gotten
P_108(1) = P_Fbc(1) ' Robot current position is gotten.
・・・
M_EncStop(1) = M_Enc(1) ' Encoder data at tracking cancellation position is gotten
P_109(1) = P_Fbc(1) ' Robot current position is gotten.
[Explanation]
(1) Set the Encoder data at the position in which the sensor reacts to workpiece.
(2) The set value is set by the 1st element of a parameter "TRKENC*" (*= condition number 1 -8).
(3) Read this value, the Encoder data at the position in which the sensor reacts to workpiece is returned.
(4) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(5) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.
(6) When the value designated as <Numeric value> is outside the setting range, Error L2560 (tracking
parameter abnormality) occurs at the time of TrkArc command execution.