Mitsubishi CR750-Q Series Instruction Manual page 150

21 Appendix
55 GoTo *LBFCHK
56 '/// Workpiece data acquisition ///
57 *LREAD
58 TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO%
59 GoSub *S40DTSET
60 '/// Workpiece position confirmation ///
61 *LNEXT
62 PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#)
63 MX50ST=PRNG.X
follow a workpiece
64 MX50ED=PRNG.Y
follow a workpiece
65 MX50PAT= PTN.X
66 GoSub *S50WKPOS
67 If MY50STS=3 Then GoTo *LBFCHK
68 If MY50STS=2 Then GoTo *LTRST
69 If MWAIT=1 Then GoTo *LNEXT
70 '/// To standby position ///
71 PWAIT= P1
72 Select PTN.X
73 Case 1 To 2
74 PWAIT.X= PX50CUR.X
workpiece.
75 Case 3 To 6
76 PWAIT.Y=PX50CUR.Y
workpiece.
77 End Select
78 PWAIT.Z=PX50CUR.Z+PUP1.X
79 PWAIT.C=PX50CUR.C
80 Mov PWAIT
81 MWAIT1= 1
82 GoTo *LNEXT
83 '/// Start tracking operation ///
84 *LTRST
85 Accel PAC1.X,PAC1.Y
86 Cnt 1,0,0
87 Act 1= 1
88 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO%
89 Mov PGT,PUP1.Y Type 0,0
90 Accel PAC2.X,PAC2.Y
91 Mov PGT Type 0,0
92 GoSub *S85CLOSE
93 MX80ENA= PHND.X
94 MX80SIG= PHND.Y
95 MX80SEC= PDLY1.X
96 GoSub *S80CWON
97 Cnt 1
98 Accel PAC3.X,PAC3.Y
99 Mov PGT,PUP1.Z Type 0,0
100 Trk Off
101 Act 1=0
102 Accel 100,100
103 MWAIT = 0
104 Return
105 '
106 '### Workpiece placing processing ###
107 *S30WKPUT
108 Accel PAC11.X,PAC11.Y
109 Mov PPT,PUP2.Y
110 Accel PAC12.X,PAC12.Y
111 Cnt 1,0,0
112 Mov PPT Type 0,0
113 GoSub *S86OPEN
114 MX81ENA= PHND.X
115 MX81SIG= PHND.Z
21-140 Sample Programs
'Read data from the tracking buffer
'Transportation data setting
'Acquire the current workpiece position
'Start distance of the range where the robot can
'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