Mitsubishi CR750-Q Series Instruction Manual page 138

21 Appendix
57 MX50ED= PRNG.Y
follow a workpiece
58 MX50PAT= PTN.X
59 GoSub *S50WKPOS
60 If MY50STS=3 Then GoTo *LBFCHK
61 If MY50STS=2 Then GoTo *LTRST
62 If MWAIT=1 Then GoTo *LNEXT
63 '/// To standby position ///
64 PWAIT= P1
65 Select PTN.X
66 Case 1 To 2
67 PWAIT.X= PX50CUR.X
workpiece.
68 Case 3 To 6
69 PWAIT.Y= PX50CUR.Y
workpiece.
70 End Select
71 PWAIT.Z=PX50CUR.Z+PUP1.X
72 PWAIT.C=PX50CUR.C
73 Mov PWAIT
74 MWAIT1= 1
75 GoTo *LNEXT
76 '/// Start tracking operation ///
77 *LTRST
78 Accel PAC1.X,PAC1.Y
79 Cnt 1,0,0
80 Act 1= 1
81 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO%
82 Mov PGT,PUP1.Y Type 0,0
83 Accel PAC2.X,PAC2.Y
84 Mov PGT Type 0,0
85 GoSub *S85CLOSE
86 MX80ENA= PHND.X
87 MX80SIG= PHND.Y
88 MX80SEC= PDLY1.X
89 GoSub *S80CWON
90 Cnt 1
91 Accel PAC3.X,PAC3.Y
92 Mov PGT,PUP1.Z Type 0,0
93 Trk Off
94 Act 1=0
95 Accel 100,100
96 MWAIT = 0
97 Return
98 '
99 '### Workpiece placing processing ###
100 *S30WKPUT
101 Accel PAC11.X,PAC11.Y
102 Mov PPT,PUP2.Y
103 Accel PAC12.X,PAC12.Y
104 Cnt 1,0,0
105 Mov PPT Type 0,0
106 GoSub *S86OPEN
107 MX81ENA= PHND.X
108 MX81SIG= PHND.Z
109 MX81SEC= PDLY2.X
110 GoSub *S81CWOFF
111 Cnt 1
112 Accel PAC13.X,PAC13.Y
113 Mov PPT,PUP2.Z Type 0,0
21-128 Sample Programs
'End distance of the range where the robot can
'Conveyer position pattern number
'Workpiece position confirmation processing
'Already passed. Go to the next workpiece
'Operable: start tracking
'Wait for incoming workpieces
'Change to workpiece wait posture
'Conveyer position pattern number
'When the conveyer is the front of the robot
'X coordinates of the robot are matched to
'Y coordinates of the robot are matched to
'Move to workpiece wait posture PWAIT
'Set workpiece wait flag
'Monitor the robot following workpieces too far
'Tracking operation start setting
'Move to tracking midair position
'Move to a suction position
'Turn suction ON
'Check instruction
'Check signal number
'Check second number(s)
'adsorbtion confirmation
'Move to tracking midair position
'Tracking operation end setting
'Move to over the placement position
'Move to the placement position
'Turn suction OFF
'Check instruction
'Check signal number
'Check second number(s)
'Release confirmation
'Move to over the placement position