Mitsubishi Electric CR750-Q Instruction Manual page 296

4MELFA-BASIC V
Plt (Pallet)
[Function]
Calculates the position of grid in the pallet.
[Format]
Plt[]<Pallet No.> , <Grid No.>
[Terminology]
<Pallet No.>
<Grid No.>
[Reference Program]
10 Def Plt 1,P1,P2,P3,P4,4,3,1 ' The definition of the four-point pallet. (P1,P2,P3,P4)
11
12 M1=1
13 *LOOP
14 Mov PICK, 50
15 Ovrd 50
16 Mvs PICK
17 HClose 1
18 Dly 0.5
19 Ovrd 100
20 Mvs,50
21 PLACE = Plt 1, M1
22 Mov PLACE, 50
23 Ovrd 50
24 Mvs PLACE
25 HOpen 1
26 Dly 0.5
27 Ovrd 100
28 Mvs,50
29 M1=M1+1
30 If M1 <=12 Then *LOOP
31 Mov PICK,50
32 End
[Explanation]
(1) The position of grid of a pallet defined by the Def Plt statement is operated.
(2) The pallet Nos. are from 1 to 8, and up to 8 can be defined at once.
(3) Note that the position of the grid may vary because of the designated direction in the pallet definition.
(4) If a grid No. is designated that exceeds the largest grid No. defined in the pallet definition statement, an
error will occur during execution.
(5) When using the pallet grid point as the target position of the movement command, an error will occur if
the point is not enclosed in parentheses as shown above.
Mov (Plt 1, 5)
Refer to Page 108, "4.1.2 Pallet operation"
[Related instructions]
Def Plt (Define pallet)
4-276 Detailed explanation of command words
Select a pallet No. between 1 and 8 that has already been defined with a Def Plt command.
Specify this argument using a constant or a variable.
The position number to calculate in the palette. Specify this argument using a constant
or a variable.
'
' Initialize the counter M1.
' Moves 50 mm above the work unload position.
' Close the hand.
' Wait for the hand to close securely (0.5 sec.)
' Moves 50 mm above the current position.
' Calculates the M1th position
' Moves 50 mm above the pallet top mount position.
' Open the hand.
' Moves 50 mm above the current position.
' Add the counter.
' If the counter is within the limits, repeats from *LOOP.
for detail.