Mitsubishi CR750-Q Series Instruction Manual page 143

(4) CM1.Prg
1 '## Ver.A3 ####################################
2 '# Conveyer tracking, sensor monitoring program
3 '# Program type : CM1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# COPYRIGHT : MITSUBISHI ELECTRIC CORPORATION.
6 '##############################################
7 '
8 '##### Main processing #####
9 *S00MAIN
10 GoSub *S10DTGET
11 *LOOP
12 GoSub *S20WRITE
13 GoTo *LOOP
14 End
15 '##### Data acquisition processing #####
16 *S10DTGET
17 'Acquire the suction position, amount of encoder movement and encoder number set with program C
18 MWKNO= M_09#
19 M10ED#=M_101#(MWKNO)
20 MENCNO= P_102(MWKNO).X
21 MSNS= P_102(MWKNO).Y
22 'Calculate the workpiece position (X,Y) when the sensor is activated
23 PWPOS=P_100(MWKNO)-P_EncDlt(MENCNO)*M10ED#
24 Return
25 '##### Position data writing processing #####
26 *S20WRITE
27 If M_In(MSNS)=0 Then GoTo *S20WRITE 'Wait for a workpiece to activate the photoelectronic sensor
CR750-Q/CR751-Q series, CRnQ-700 series controller
28 MENC#=M_EncL(MENCNO)
CR750-D/CR751-D series, CRnD-700 series controller
28 MENC#=M_Enc(MENCNO)
29 TrWrt PWPOS,MENC#,MWKNO,1,MENCNO
tracking buffer
30 *L20WAIT
31 If M_In(MSNS)=1 Then GoTo *L20WAIT
32 Return
'Processing for acquiring required data
'Workpiece position writing processing
'Acquire model number
'Amount of encoder movement
'Encoder number
'Sensor number
'Encoder number
'Encoder number
'Write data (workpiece position and encoder value) to the
21 Appendix
（Note）
The command is deferent between iQ
Platform controller (CR750-Q/CR751-Q
series, CRnQ-700 series) and stand alone
type controller (CR750-D/CR751-D series,
CRnD-700 series).
In the CR750-Q/CR751-Q series,
CRnQ-700 series series, it is necessary to
use the latch encoder data (M_ENCL)
after confirmation with an input signal.
Sample Programs 21-133