Mitsubishi Electric CR750-Q Instruction Manual page 232

4MELFA-BASIC V
Def Plt (Define pallet)
[Function]
Defines the pallet. (3-point pallet, 4-point pallet)
[Format]
Def[]Plt[] <Pallet No.>, <Start Point>, <End Point A>, <End Point B>, [<Diagonal Point>],
[Terminology]
<Pallet No.>
<Start Point>
<End Point A>
<End Point B>
<Diagonal Point>
<Quantity A>
<Quantity B>
<Pallet Pattern>
End point B Diagonal point
12 11
7 8
6 5
1 2
Start point End point A
Zigzag
[Reference Program]
1 Def Plt 1,P1,P2,P3, ,4,3,1
2 Def Plt 1,P1,P2,P3,P4,4,3,1
[Explanation]
(1) The accuracy of the position calculation will be higher for a 4-point pallet than for a 3-point pallet.
(2) The command is valid only within the program being executed. The command is invalid in the program
that calls up the command from another program. If necessary, redefine.
(3) Quantity A and B should be a non-zero positive number, while if 0 or a negative number is assigned, an
error will occur.
(4) If Quantity A x Quantity B exceeds 32,767, an error will occur when operation starts.
(5) The value of Quantity B is insignificant for the arc pallet, but it must not be omitted. Set 0 or a dummy
value. The diagonal point will be insignificant even if specified.
4-212 Detailed explanation of command words
<Quantity A>, <Quantity B>, <Pallet Pattern>
This is the selection No. of the set pallet. (Constants from 1 to 8 only).
Refers to the pallet's start point.
One of the ending points for the pallet. Transit point of arc for arc pallet.
Another ending point for the pallet. Ending point of arc for arc pallet.
The diagonal point from the pallet's start point. Insignificant for arc pallet.
The No. of workpieces from the pallet's start point to the end point A.
The No. of workpieces between the pallet start point and arc end point when using an
arc pallet.
The No. of workpieces from the pallet's start point to the end point B.
Insignificant for an arc pallet. (1, etc., must be designated.)
Specify the pallet pattern and fixation/equal division of the posture when numbering divided
grid points. Constant only.
1: Zigzag (posture equal division)
2: Same direction (posture equal division)
3: Arc pallet (posture equal division)
11: Zigzag (posture fixation)
12: Same direction (posture fixation)
13: Arc pallet (posture fixation)
End point B
10 10 11
9 7 8
4 4 5
3 1 2
Start point
Same direction
Diagonal point
12
Start point
9
6
3
End point A
' Define a 3-point pallet.
' Define a 4-point pallet.
Transit point
３
２
４
１
Arc pallet
End point
５