-152-
(
→
Continuation of program example in Exercise 3-1 Interrupt processing, data latch)
(// End of program example in Exercise 3-1 End of Exercise 3-1 Interrupt processing, data latch program example)
77 Dly 0.5
78 Mvs P1
79 Hlt
80 End
81 '----- Subroute -----
82 *INIT
83 Loadset 1,1
84 OAdl On
85 Servo On
86 Wait M_Svo=1
87 Ovrd M_NOvrd
88 Spd M_NSpd
89 PNow=P_Fbc
90 If PNow.Z < P1.Z Then
91 PNow.Z=P1.Z
92 Mvs PNow
93 Pnow2=Align(PNow)
94 Mvs Pnow2
95 Dly 0.2
96 EndIf
97 Mov P1
98 Dly 0.2
99 '----- Speed -----
100 MSpd=5
101 Ovrd M_NOvrd
102 MSpeed=100 / M_OPovrd *MSpd
103 'Spd MSpeed
104 '-----------------
105 Return
106 '-----
107 *XERR
108 Act 1=0
109 SetMoTrg 0
110 Error 9105
111 Hlt
112 ReturnP2=(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00)(,)
P1=(-60.84,-282.07,+300.47,+180.00,+0.00,+179.98)(7,0)
PCHK=(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00)(,)
PNow=(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00)(,)
PTRG=(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00)(,)
Pnow2=(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00)(,)
Содержание MELFA BFP-A3614
Страница 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
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Страница 8: ... Revision History Print Date Instruction Manual No Revision content 2018 07 31 BFP A3614 First print ...
Страница 33: ... 22 b CR800 R controller CN1 connector CR800 R controller front To OPT1 connector CPU module SSCNET III cable ...
Страница 34: ... 23 2 F series a CR750 D controller ...
Страница 35: ... 24 b CR751 D controller ...
Страница 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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