Mitsubishi Electric CR750-D Series Instruction Manual page 78

10 Maintenance of robot program
Number of
Variable name
arrays
P_TrkPAcl Condition
Number
1 to 8.
P_TrkPDcl Condition
Number
1 to 8.
M_TrkBuf Condition
Number
1 to 8.
M_TrkStart Condition
Number
1 to 8.
M_TrkEnd Condition
Number
1 to 8.
M_TrkStop Condition
Number
1 to 8.
M_TrkTime Condition
Number
1 to 8.
P_TrkBase Condition
Number
1 to 8.
M_TrkArcEnc Condition
Number
1 to 8.
M_TrkChk Condition
Number
1 to 8.
P_TrkWork Condition
Number
1 to 8.
M_TrkEnc Condition
Number
1 to 8.
M_TrkKind Condition
Number
1 to 8.
M_TrkEncNo Condition
Number
1 to 8.
P_TrkTarget
M_Trbfct buffer No.
1 to The first
argument of
parameter
[TRBUF]
P_CvSpd number of
encoders
1 to 8
M_Hnd Hand Number
1 to 8
Condition
M_TrkType Number
1 to 8.
10-68 MELFA-BASIC V Instructions
Parameter [TRPACL] value
Parameter [TRPDCL] value
Buffer Number
Tracking Starting Distance
Tracking Ending Distance
Tracking Forced Ending Distance
Timeout period of TrkWait command
Tracking Base coordinates
The encoder value towards which the
workpiece advanced on the arc after a
sensor reacted
TrkChk result
Workpiece position when the sensor
taken out from the tracking buffer reacts.
Workpiece Encoder when the sensor
taken out from the tracking buffer reacts.
Model number of the workpiece taken out
from the tracking buffer.
Encoder number taken out from the
tracking buffer.
- The workpiece coordinate where the
robot is following
Number of data items stored in the tracking
buffer
Conveyer speed (mm, rad/sec)
Hand open/close instruction and
Hand open/close states.
※Used when you open or close the hand
during "WthIf".
The type of the tracking function
0 – Straight line tracking
1 – Circular arc tracking
Function
Attribute
Data type
(*1)
Read/Write Position
Read/Write Position
Read/Write Integer
Read/Write Single-precision
real number
Read/Write Single-precision
real number
Read/Write Single-precision
real number
Read/Write Single-precision
real number
Read/Write Position
Read Only Long-precision
real number
Read Only Integer
Read Only Position
Read Only Long-precision
real number
Read Only Integer
Read Only Integer
Read Only Position
Read Only Integer
Read Only Position
Read/Write Integer
Read Only Integer