Mitsubishi CR750-Q Series Instruction Manual page 151

116 MX81SEC= PDLY2.X
117 GoSub *S81CWOFF
118 Cnt 1
119 Accel PAC13.X,PAC13.Y
120 Mov PPT,PUP2.Z Type 0,0
121 Accel 100,100
122 Return
123 '
124 '### Transportation data setting processing ###
125 *S40DTSET
126 PTBASE= P_100(PWK.X)
127 TrBase PTBASE,MBENCNO%
128 PGT= PTBASE*POFSET
129 GoSub *S46ACSET
130 Return
131 '
132 '### Interrupt definition processing 1 ###
133 *S46ACSET
134 Select PTN.X
135 Case 1 'Front right -> left
136 MSTP1= PRNG.Z
137 Def Act 1,P_Fbc(1).Y>MSTP1 GoTo *S91STOP
138 Break
139 Case 2 'Front left -> right
140 MSTP1= -PRNG.Z
141 Def Act 1,P_Fbc(1).Y<MSTP1 GoTo *S91STOP
142 Break
143 Case 3 'Left side rear -> front
144 Case 5 'Right side rear -> front
145 MSTP1=PRNG.Z
146 Def Act 1,P_Fbc(1).X>MSTP1 GoTo *S91STOP
147 Break
148 Case 4 'Left side front -> rear
149 Case 6 'Right side front -> rear
150 MSTP1= -PRNG.Z
151 Def Act 1,P_Fbc(1).X<MSTP1 GoTo *S91STOP
152 Break
153 End Select
154 Return
155 '
156 '### Workpiece position confirmation processing ###
157 'PX50CUR:Current workpiece position
158 'MX50ST:Tracking start range
159 'MX50ED:Tracking end range
160 'MX50PAT:Conveyer position pattern number
161 'MY50STS:Result (1: Wait/2: Start tracking/3: Next workpiece)
162 *S50WKPOS
163 MY50STS= 0
164 '/// The processing to singular point of RH-3S*HR ///
165 P50FWCUR=PX50CUR * Inv(P_Tool) 'Position of workpiece in flange
166 PTRST=P_Zero
167 PTRED=P_Zero
168 '/// The processing to singular point of RH-3S*HR ///
169 Select MX50PAT
170 Case 1 'Front right -> left
171 M50STT=-MX50ST
172 M50END=MX50ED
173 If PosCq(PX50CUR)=1 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
174 MY50STS= 2
175 '/// The processing to singular point of RH-3S*HR ///
176 PTRST.Y = P_CvSpd(MBENCNO%).Y * MTRSTT / 1000
177 PTRST = PTRST + P50FWCUR
workpiece.
178 PTRED.Y = P_CvSpd(MBENCNO%).Y * MTREND / 1000
179 PTRED = PTRED + P50FWCUR
'Check second number(s)
'Release confirmation
'Move to over the placement position
'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
'Position when beginning to follow as for
'Position when having finished following
21 Appendix
Sample Programs 21-141