Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-151
M_TrkEnd
[Function]
Specify and refer to the ending position of range in which it is possible to execute the tracking..
In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate system
(the coordinate value "0.00").
In case of the circular arc tracking, designate the correction amount from the tracking starting possible area.
[Format]
[Writing]
M_TrkEnd(<Condition number>) = <Value>
[Referencing]
<Numeric variable> = M_TrkEnd(<Condition number>)
[Terminology]
< Condition Number
[Integer]
>
Specify the condition number corresponding to tracking.
Setting range
：
1 to 8
<Value [Single-precision real number] >
Specify the ending position (mm) of range in which it is possible to execute the tracking..
In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate
system (the coordinate value "0.00").
In case of the circular arc tracking, designate the correction amount from the tracking starting possible area.
Setting range: 0.00 to
（
Robot operation range
）
Unit: mm
< Numeric Variable
[Single-precision real number]
>
Return end position of range in which it is possible to execute the tracking..
[Reference program]
M_TrkBuf(1) = 1 ’ Tracking buffer corresponding to the condition number 1 uses number 1.
M_TrkStart(1) = 30 ’ Starting position of range in which it is possible to execute the tracking
corresponding to the condition number 1 is 30mm.
M_TrkEnd(1) = - 10 ’ End position of range in which it is possible to execute the tracking
corresponding to the condition number 1 is
- 10mm.
・・・・・
TrkChk 1, P1, PWAIT, *LTRST ’ Check the workpiece of the specified tracking buffer
[Explanation]
(1) Specify the ending position of range in which it is possible to execute the tracking used in tracking command
“TrkChk””TrkWait”.
(2) You can confirm the specified ending position of range in which it is possible to execute the tracking by
referencing “M_TrkEnd”.
(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 specif y <Condition number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.