Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-157
M_TrkChk
[Function]
Refer to the workpiece state read f rom the tracking buffer when “TrkChk”, “TrkWait” command is executed.
[Format]
[Referencing]
<Numeric variable> = M_TrkChk(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
< Numeric variable [Integer] >
Return the workpiece state read from the tracking buffer when “TrkChk”, “TrkWait” command is executed.
0
：
No workpiece in the buffer.
1
：
The specified workpiece passed over.
2
：
Wait for the specified workpiece.
3
：
The specified workpiece can be followed by tracking.
[Reference program]
M_TrkBuf(1) = 1 ’ Tracking buffer corresponding to the condition number 1 uses number 1.
・・・・・
*LBFCHK
TrkCh
k 1, PSave, PWait, *LTRST ’ Check the workpiece of the specified tracking buffer.
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ’0:No Workpiece/ 1: Workpiece passed over ->Jump to
“LBFCHK”.
[Explanation]
(1) You can confirm the workpiece state read from the tracking b uffer when “TrkChk”, “TrkWait” command is
executed..
(2) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(3) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
Workpiece movement direction.
Tracking
area
Forced ending
area
Forced ending
-300mm
Ending
-100mm
Start
+400mm
0 ： No workpiece in
the buffer.
2 ： Wait for the specified
workpiece.
3 ： The specified
Workpiece can be
followed by tracking.
4 ： The specified Workpiece
passed over.
Target
Workpiece