Mitsubishi CR750-Q Series Instruction Manual page 101

Trk (tracking function)
[Function]
After Trk On is executed, the robot goes into the tracking mode and operates while following the conveyer
operation until Trk Off is executed.
[Format]
Trk  On[,<Measurement position data>[,[<Encoder data>][,[<Reference position data>][,[<Encoder logic
number>] ] ] ] ]
Trk  Off
[Term]
<Measurement position data> (can be omitted):
Specify the workpiece position measured by a sensor.
<Encoder data> (can be omitted):
Specify a value of an encoder installed on a conveyer when a workpiece is measured.
<Reference position data> (can be omitted):
Specify the origin position of position data to be followed during the tracking mode.
If this argument is omitted, the robot follows the conveyer using the position specified by the TrBase
instruction as the origin.
The initial value is PZERO.
<Encoder logic number> (can be omitted):
This is a logic number indicating the external encoder that performs tracking operation.
1 is set when this argument is omitted.
Setting range: 1 to 8
[Example]
1 TrBase P0
2 TrRd P1,M1,MKIND
3 Trk On,P1,M1
4 Mvs P2
5 HClose 1
6 Trk Off
[Explanation]
 Specify the position relative to the position data specified by Trk On as show in line 20 of the statement
example for the target position of the movement instruction during tracking operation.
CAUTION
A target position that moves in the tracking is calculated based on the workpiece position
when Trk On.
The H2802 error might occur when a target position doesn't exist in the robot range at
the time of Trk On.
Please execute Trk Off before the movement to the target position when the error occurs.
And, please execute Trk On again.
 "P_Zero/P0" in "P1c*P_Zero/P0*P2" in [Example] can be replaced with INV(P0).
CAUTION
•S/W Ver.R1 or later (SQ series) ,S1 or later (SD series), CR750/CR751 series.
When Hlt command is executed during tracking movement, tracking movement will be
stopped (an equivalent for the Trk Off command) and execution of the program will be
interrupted. In use of the multi-mechanism, tracking movement is stopped to the robot of
the mechanism number got by the GetM command. When you continue tracking
movement by the restart (continuation), please create the program to execute the Trk On
command.
•S/W Ver. before R1 (SQ series), before S1 (SD series)
When Hlt command is executed during tracking movement, execution of the program will
stop, but continue the conveyor tracking movement. When you stop tracking movement,
please execute the Trk Off command before executing Hlt command.
' Specify the workpiece coordinate origin at the teaching position.
' Read the workpiece position data from the data buffer.
' Start tracking of a workpiece whose position measured by a sensor is P1 and
encoder value at that time is M1.
' Setting the current position of P1 as P1c, make the robot operate while following
workpieces with the target position of P1c*P_Zero/P0*P2 (P2 indicates the
workpiece grabbing position).
' Close hand 1.
' End the tracking operation.
19 Maintenance of robot program
MELFA-BASIC V Instructions 19-91