Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-163
P_TrkTarget
[Function]
Refer to the information (“P_TrkWork”, “M_TrkEnc”) read from the tracking buffer when “TrkChk”, “TrkWait”
command is executed, and the current workpiece position calculated by the state vari able “P_EncDlt”.
[Format]
[Referencing]
<Position variable> = P_TrkTarget
[Terminology]
<Position variable>
Return the information (P_TrkWork, M_TrkEnc) read from the tracking buffer when “TrkChk”, “TrkWait”
command is executed, and the current workpie ce position calculated from the state variable “P_EncDlt”.
[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.
・・・・・
PWrkNow = P_TrkTarget ’ Substitute the current workpiece position.
[Explanation]
(1) You can confirm the current workpiece position by referencing the information read from the tracking
buffer when “TrkChk”, “TrkWait” command is executed.
(2) If you execute the writing to “M_TrkTarget”, L3210 (This variable is write protected) error occurs.