Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
15-154 MELFA-BASIC V or MELFA-BASIC VI instruction
P_TrkBase
[Function]
Specify and refer to the origin (For example, the position which a vision sensor outputs) of the workpiece to be
followed.
Specify the position data (For example, the position which a vision sensor outputs) used as the reference point
when you teach the movement path on the workpiece, as described below
The robot moves to the relative position correspond to this reference point by the movement instruction during
the tracking.
[Vision recognition position] [Teaching position]
For example, when you only absorb the workpiece (do not operate along the external form of the workpiece),
you may appoint the position specified when you teach the position which absorb the workpiece (for example,
“PTeach”)as “P_TrkBase”,and appoint the above “PTeach” as movement instruction that moves dur ing “TrkOn
～
TrkMv Off”(Mov PTeach).
[Format]
[Writing]
P_TrkBase(<Condition number>) = <Position data>
[Referencing]
<Position variable> = P_TrkBase(<Condition number>)
Vision
recognition point
Workpiece
Teach three posit ion P0,P1,P2
[Robot program]
P_TrkBase(1)=P0
・・・・・・
Mvs P1
Mvs P2
Mvs P0
TrkMv Off
[Robot operation]
While following…
P0
P1
P2
Field of vision
[Structure]
Regard the position outputted by vision as
P0 by “P_TrkBase(1)=P”, “TrkBase P0”
Follow “Mvs P1”, “Mvs P2” as the reference
position from P0.
If the workpiece
Declines, P0
Inclines too, and
P1,P2 declines
correspond to P0.