Mitsubishi Electric CR800 Series Instruction Manual page 156

15 Maintenance of robot program
M_EncStart
[Function]
Set the encoder data at tracking area starting position.
Or, the encoder data at tracking area starting position is returned.
The set value is set by the 2nd element of a parameter "TRKENC*" (*= condition number 1-8).
[Format]
[Write]
M_EncStart(<Condition number>) = <Numeric value>
[Read]
<Numeric Variable> = M_EncStart(<Condition number>)
[Terminology]
<Condition number [Integet]>: (can be omitted.)
Specify the tracking condition number.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value.
<Numeric value [Long-precision real number]>
Specify the encoder data at the position in which the sensor reacts to workpiece.
Setting range: Parameter "ENCRGMN" to "ENCRGMX"
<Numeric Variable [Long-precision real number]>
Specify a numeric variable that current the encoder data being set now.
[Reference Program]
M_EncSensor(1) = M_Enc(1)
・・・
M_EncStart(1) = M_Enc(1)
P_107(1) = P_Fbc(1)
・・・
M_EncEnd(1) = M_Enc(1)
P_108(1) = P_Fbc(1)
・・・
M_EncStop(1) = M_Enc(1)
P_109(1) = P_Fbc(1)
[Explanation]
(1) Set the encoder data at tracking area starting position.
(2) The set value is set by the 2nd element of a parameter "TRKENC*" (*= condition number 1-8).
(3) Read this value, the encoder data at tracking area starting position is returned.
(4) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(5) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.
(6) When the value designated as <Numeric value> is outside the setting range, Error L2560 (tracking
parameter abnormality) occurs at the time of TrkArc command execution.
15-144 MELFA-BASIC V or MELFA-BASIC VI instruction
' Encoder data at the position in which the sensor reacts to workpiece is
gotten.
' Encoder data at tracking area starting position is gotten.
' Robot current position is gotten.
' Encoder data at tracking area ending position is gotten
' Robot current position is gotten.
' Encoder data at tracking cancellation position is gotten
' Robot current position is gotten.