Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-146 MELFA-BASIC V or MELFA-BASIC VI instruction
M_EncStop
[Function]
Set the encoder data at tracking cancellation position.
Or, the encoder data at tracking cancellation position is returned.
The set value is set b y the 4th element of a parameter "TRKENC*" (*= condition number 1 -8).
[Format]
[Write]
M_EncStop(<Condition number>) = <Numeric value>
[Read]
<Numeric Variable> = M_EncStop(<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 tracking cancellation position.
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 position in which the sensor react s 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 tracking cancellation position.
(2) The set value is set by the 4th element of a parameter "TRKENC*" (*= condition number 1 -8).
(3) Read this value, the encoder data at tracking cancellation position 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.