Mitsubishi Electric CR750-D Series Instruction Manual page 83

TrkChk (Tracking check function)
[Function]
Execute the processing depending on the state of workpiece corresponding to <Condition number> specified.
[Format]
TrkChk □ <Condition number> , <Starting position> , [<Waiting position>] , <Branch destination>
[Terminology]
<Condition number [Integer]>
Specify the condition number correspond to tracking.
Setting range: 1 to 8
<Starting position [Position]>
When there is no workpiece in tracking buffer(no workpiece on the conveyor), specify the starting
position to which
system to which
<Waiting position [Position]> : (can be omitted.)
Specify the waiting position until workpiece enters a tracking possible area.
In case of the high speed tracking, X or Y coordinates of <Waiting position> are changed to coordinates
of workpiece.
In case of the circular arc tracking, move to the designated location without changing it.
<Branch destination [label]>
Specify the label name that jumps when specified workpiece can be followed.
[Reference program]
*LBFCHK
・・・・・
TrkChk 1, P1, PWAIT, *LTRST
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK
TrkWait *LBFCHK
[Explanation]
(1) Workpiece information is taken out of the tracking buffer of state variable "M_TrkBuf" corresponding to
<condition number >.The position of the workpiece is checked by using the range specified for robot state
variable "M_EncSensor","M_EncStart","M_EncEnd","M_EncStop","M_TrkStart","M_TrkEnd","M_TrkStop"
The checked result is stored in robot state variable "M_TrkChk".
(2) Workpiece information which is taken out of the specified tracking buffer is in state variable "P_TrkWork",
"M_TrkEnc", "M_TrkKind" and "M_TrkEncNo" when "TrkChk" is executed.
(3) If state variable "M_TrkBuf" is not specified when "TrkChk" is executed, buffer number is assumed to be "1".
(4) Execute the following processings according to the execution result of this command.
M_TrkChk
value
0 No workpiece in the tracking
buffer.
1 There is workpiece information in
the tracking buffer.
And the workpiece has passed
the tracking starting possible
area.
2 There is workpiece information in
the tracking buffer.
And the workpiece exists in front
of the tracking starting possible
area.
robot moves at the beginning of the system. Mainly, specify the starting position as the
robot moves at the beginning of the system.
'No workpiece->P1/ Wait for the workpiece->PWAIT/
'0:No workpiece / 1: Workpiece passed over ->"LBFCHK".
'Wait for the workpiece / Jump to "LBFCHK" at the timeout.
Execution result
Tracking possible->Jump to "LTRST".
Processing
Execute the process
that move to specified
<Starting position>.
No processing.
Confirm the workpiece
position.
Change the position
data of specified
<Waiting position>.
Move to the position.
MELFA-BASIC V Instructions 10-73
10 Maintenance of robot program
Robot operation
Robot move from
current position to
<Starting position>.
Robot does not move.
Robot moves from the
current position to the
position to which the
workpiece flows.