Mitsubishi CR750-Q Series Instruction Manual page 139

114 Accel 100,100
115 Return
116 '
117 '### Transportation data setting processing ###
118 *S40DTSET
119 PTBASE= P_100(PWK.X)
120 TrBase PTBASE,MBENCNO%
121 PGT= PTBASE*POFSET
122 GoSub *S46ACSET
123 Return
124 '
125 '### Interrupt definition processing 1 ###
126 *S46ACSET
127 Select PTN.X
128 Case 1 'Front right -> left
129 MSTP1= PRNG.Z
130 Def Act 1,P_Fbc(1).Y>MSTP1 GoTo *S91STOP
131 Break
132 Case 2 'Front left -> right
133 MSTP1= -PRNG.Z
134 Def Act 1,P_Fbc(1).Y<MSTP1 GoTo *S91STOP
135 Break
136 Case 3 'Left side rear -> front
137 Case 5 'Right side rear -> front
138 MSTP1=PRNG.Z
139 Def Act 1,P_Fbc(1).X>MSTP1 GoTo *S91STOP
140 Break
141 Case 4 'Left side front -> rear
142 Case 6 'Right side front -> rear
143 MSTP1= -PRNG.Z
144 Def Act 1,P_Fbc(1).X<MSTP1 GoTo *S91STOP
145 Break
146 End Select
147 Return
148 '
149 '### Workpiece position confirmation processing ###
150 'PX50CUR:Current workpiece position
151 'MX50ST:Tracking start range
152 'MX50ED:Tracking end range
153 'MX50PAT:Conveyer position pattern number
154 'MY50STS:Result (1: Wait/2: Start tracking/3: Next workpiece)
155 *S50WKPOS
156 MY50STS= 0
157 Select MX50PAT
158 Case 1 'Front right -> left
159 M50STT=-MX50ST
160 M50END=MX50ED
161 If PosCq(PX50CUR)=1 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
162 MY50STS= 2
163 Else 'If tracking not possible
164 If PX50CUR.Y<0 Then MY50STS=1
165 If PX50CUR.Y>M50END Then MY50STS=3
166 If PosCq(PX50CUR)=0 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
MY50STS=3 'Outside the movement range
167 EndIf
168 Break
169 Case 2 'Front left -> right
170 M50STT=MX50ST
171 M50END=-MX50ED
172 If PosCq(PX50CUR)=1 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
'Create reference position
'Tracking base setting
'Suction position setting
'Interrupt definition
'Conveyer position pattern number
'Following stop distance
'To *S91STOP if followed far long
'Clear return value
'Conveyer pattern
'The start side has a negative value
'Tracking possible
'Wait
'Move onto the next workpiece
'The end side has a negative value
21 Appendix
Sample Programs 21-129