Example Of Using Multitask; Robot Work Details - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

4.3.6 Example of using multitask

An example of the multitask execution is given in this section.

(1) Robot work details.

The robot programs are the "movement program" and "position data lead-in program".
The "movement program" is executed with slot 1, and the "position data lead-in program" is executed with
slot 2. If a start command is output to the sensor while the robot is moving, a request for data will be made
to the personal computer via the position data lead-in program. The personal computer sends the position
data to the robot based on the data request. The robot side leads in the compensation data via the position
data lead-in program.
<Process flow>
P1: Workpiece pickup position (Vacuum timer Dly 0.05)
P2: Workpiece placing position (Release timer Dly 0.05)
P3: Vision pre-position (Do not stop at penetration point Cnt)
P4: Vision shutter position (Do not stop at penetration point Cnt)
P_01: Vision compensation data
P20: Position obtained by adding P2 to vision compensation data (relative operation)
X
P1
P2
Y
0
4-130 Multitask function
<Slot1>
Operation program
Start
Workpiece pickup P1
Sensor start
P4
Sensor recognition
Above mounting
P2
position
Data confirmation
Workpiece mounting
P20
P3 :No acceleration/deceleration
P4 : No acceleration/deceleration
Position to move vision
<Slot2>
Position data lead
-in program
RS-
Start
232C
Data reception
Sensor start
Data reception
Position data
setting
Background execution
<Sensor>
Personal computer
Start
Data reception
Position data
transmission