Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

Страница: 173 / 204

15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-161
M_TrkKind
[Function]
Refer to the model number read from the tracking buffer when “TrkChk”, “TrkWait” command is executed.
[Format]
[Referencing]
<Numeric variable> = M_TrkKind(<Condition number>)
[Terminology]
< Condition number [Integer] >
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
< Numeric variable [Long-precision real number] >
Return the model number read from the tracking buffer correspond to the specified condition number.
[Reference program]
M_TrkBuf(1) = 1 ’ Tracking buffer corresponding to the condition number 1 uses number 1.
・・・・・
TrkChk 1, P1, PWAIT, *LTRST ’ Check the workpiece of the specified tracking buffer.
・・・・・
MKind = M_TrkKind(1) ’ Substitute the model number read from the tracking buffer 1.
[Explanation]
(1) You can confirm the model number read from the tracking buffer when “TrkChk”, “TrkWait” command is
executed.
(2) If t here is no data in the tracking buffer, the data will be cleared.
(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.
(5) If you execute the writing to “M_TrkKind”, L3210 (This variable is write protected) error occurs.