Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-147
P_TrkPAcl
[Function]
Change the tracking acceleration coefficient of the parameter “TRPACL” temporarily.
[Format]
[Writing]
P_TrkPAcl(<Condition number>) = <Position data>
[Referencing]
<Position variable> = P_TrkPAcl(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
<Position data [Position] >
Specify the tracking acceleration coefficient.
Setting area: For each component, 0.10 to 10.0
<Position variable [Position] >
Return the specified tracking acceleration coefficient.
[Reference program]
P_TrkPAcl(1) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0, 1.0, 1.0) ’Specify the tracking acceleration coefficient.
P_TrkPDcl(1) = (0.2, 0.2, 0.2, 1.0, 1.0, 1.0, 1.0, 1.0) ’ Specify the tracking deceleration coefficient.
・・・・・
*LTRST
TrkMv On, PGTUP, 1, *S91STOP ’Start the interrupt processing->Trk On-> Move to the tracking upper
position
[Explanation]
(1) Specify the tracking acceleration coefficient used in tracking command “TrkMv”.
(2) You can confirm the tracking accelerat ion coefficient by referencing “P_TrkPAcl”.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.