Mitsubishi CR750-Q Series Instruction Manual page 153

229 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3
position is singular point neighborhood, it is NG.
230 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3
position is singular point neighborhood, it is NG.
231 If (PTRST.X > P3HR.Z And PTRED.X > P3HR.Z) Then MY50STS=3
the singular point.
232 EndIf
233 '/// The processing to singular point of RH-3S*HR ///
234 Else 'If tracking not possible
235 If PX50CUR.X<0 Then MY50STS= 1
236 If PX50CUR.X>0 Then MY50STS=3
237 If PosCq(PX50CUR)=0 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
MY50STS=3 'Outside the movement range
238 EndIf
239 Break
240 Case 4 'Left side front -> rear
241 Case 6 'Right side front -> rear
242 M50STT=MX50ST
243 M50END=-MX50ED
244 If PosCq(PX50CUR)=1 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
245 MY50STS= 2
246 '/// The processing to singular point of RH-3S*HR ///
247 PTRST.X = P_CvSpd(MBENCNO%).X * MTRSTT / 1000
248 PTRST = PTRST + P50FWCUR
workpiece.
249 PTRED.X = P_CvSpd(MBENCNO%).X * MTREND / 1000
250 PTRED = PTRED + P50FWCUR
as for workpiece.
251 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then 'case the singular point area
252 If (PTRST.X > P3HR.Z And PTRED.X > P3HR.Z) Then MY50STS=2 'The position of the work
peace is OK from the singular point if previous.
253 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3
position is singular point neighborhood, it is NG.
254 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3
position is singular point neighborhood, it is NG.
255 If (PTRST.X < -P3HR.Z And PTRED.X < -P3HR.Z) Then MY50STS=3
the singular point.
256 EndIf
257 '/// The processing to singular point of RH-3S*HR ///
258 Else 'If tracking not possible
259 If PX50CUR.X>0 Then MY50STS= 1
260 If PX50CUR.X<0 Then MY50STS=3
261 If PosCq(PX50CUR)=0 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
MY50STS=3 'Outside the movement range
262 EndIf
263 Break
264 End Select
265 P50TRST=PTRST '/// The processing to singular point of RH-3S*HR ///
266 P50TRED=PTRED '/// The processing to singular point of RH-3S*HR ///
267 If MY50STS=0 Then Error 9199
268 Return
269 '
270 '### Origin return processing ###
271 *S90HOME
272 Servo On
273 P90CURR= P_Fbc(1)
274 If P90CURR.Z<P1.Z Then
275 Ovrd 10
276 P90ESC= P90CURR
277 P90ESC.Z=P1.Z
278 Mvs P90ESC
279 Ovrd 100
280 EndIf
281 Mov P1
282 Return
'Wait
'Move onto the next workpiece
'The end side has a negative value
'Tracking possible
'Position when beginning to follow as for
'Position when having finished following
'Wait
'Move onto the next workpiece
'Program modification required
'Servo ON
'Acquire the current position
'If the current height is below the origin
'Create an escape position
'Move to the escape position
'Move to the origin
21 Appendix
'If the tracking end
'If the tracking start
'It is NG if passing over
'If the tracking end
'If the tracking start
'It is NG if passing over
Sample Programs 21-143