Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-153
M_TrkTime
[Function]
Specify and refer to the timeout value for “TrkWait” command.
[Format]
[Writing]
M_TrkTime(<Condition number>) = <Value>
[Referencing]
<Numeric variable> = M_TrkTime(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
<Value [Single-precision real number] >
Specify the timeout time waits until the workpiece enters to range in which it is possible to execute the
tracking..
Setting range: 0.00 to
Unit: second
< Numeric Variable [Single-precision real number] >
Return specified tracking buffer number.
[Reference program]
M_TrkTime(1) = 60 ’Set the timeout time to 60 second.
・・・・・
TrkChk 1, PSave, PWait, *LTRST ’ No workpiece- >PSave/ Waits for the wo rkpiece- >PWait/Workpiece can
be followed by tracking->*LTRST
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ’0:No workpiece/1:Workpiece passed over ->Jump to *LBFCHK.
TrkWait *LBFCHK ’Waits until workpiece enters to the tracking area
[Explanation]
(1) Specify the time out time used in tracking command “TrkWait”.
(2) You can confirm the specified timeout time by referencing “M_TrkStop”.
(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.