Mitsubishi CR750-Q Series Instruction Manual page 99

TrBase (tracking base)
[Function]
Specify the workpiece coordinate system origin during the teaching operation and the encoder logic number
of an external encoder used in tracking operation.
[Format]
TrBase  <Reference position data> [ , <Encoder logic number>]
[Term]
<Reference position data> (can be omitted):
Specify the origin position of position data to be followed during the tracking mode.
<Encoder logic number> (can be omitted):
This is a logic number indicating the external encoder that performs tracking operation.
1 is set when this argument is omitted.
Setting range: 1 to 8
[Example]
1 TrBase P0
2 TrRd P1,M1,MKIND
3 Trk On,P1,M1
4 Mvs P2
5 HClose 1
6 Trk Off
[Explanation]
 Specify the workpiece coordinate system origin during the teaching operation and the logic number of an
external encoder used in tracking operation.
 If an encoder logic number is omitted, the previously specified value 1 is set.
 The reference position data and encoder number are set to their initial values until they are specified by
the TrBase instruction or the Trk On instruction. The initial value is P_Zero for the reference position data
and 1 for the encoder number.
 Describes the relationship of "TrBase" and "Trk" and "Mvs P2".
Search area
of Vision sensor
P0 : Teaching position in "C1" program.
P1 : Workpieace position when captured from vision sensor in "CM1" program
P1c : Current Workpiece position.
M1 : Encoder value when captured from vision sensor in "CM1" program
P2 : Target position
' Specify the workpiece coordinate origin at the teaching position.
' Read the workpiece position data from the data buffer.
' Start tracking of a workpiece whose position measured by a sensor is P1 and
encoder value at that time is M1.
' Setting the current position of P1 as P1c, make the robot operate while following
workpieces with the target position of P1c*P_Zero/P0*P2.
' Close hand 1.
' End the tracking operation.
Origin of tracking
P2
P1
M1
19 Maintenance of robot program
Inv(P0)
P1c
M1c
M1c : Current encoder value
MELFA-BASIC V Instructions 19-89
P0
Workpiece
movement direction