Mitsubishi Electric CR800 Series Instruction Manual page 172

15 Maintenance of robot program
M_TrkEnc
[Function]
Refer to the encoder value read from the tracking buffer when the "TrkChk", "TrkWait" command is executed.
[Format]
[Referencing]
<Numeric variable> = M_TrkEnc(<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 encoder value (pulse) read from the tracking buffer correspond to the specified condition
number.
[Reference program]
M_TrkBuf(1) = 1
・・・・・
TrkChk 1, P1, PWAIT, *LTRST 'Check the workpiece of the specified tracking buffer.
・・・・・
MEnc& = M_TrkEnc(1)
[Explanation]
(1) You can confirm the encoder value read from the tracking buffer when the "TrkChk", "TrkWait" command is
executed.
(2) If there 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_TrkEnc", L3210 (This variable is write protected) error occurs.
15-160 MELFA-BASIC V or MELFA-BASIC VI instruction
' Tracking buffer corresponding to the condition number 1 uses number 1.
' Substitute the workpiece position read from the tracking buffer 1.