List Of Functions; Explanation Of Tracking Operation Instructions - Mitsubishi CR750-Q Series Instruction Manual

19 Maintenance of robot program

19.1.3. List of Functions

Function name
Poscq(<position>)
TrWcur(<encoder number>,
<position>,<encoder value>)
TrPos(<position>)

19.1.4. Explanation of Tracking Operation Instructions

The instructions related to tracking operations are explained in details below.
The explanations of instructions are given using the following format.
: Describes the function of an instruction.
[Function]
: Describes the entry method of arguments of an instruction.
[Format]
< > indicate an argument.
[ ] indicates that entry can be omitted.
 indicate that space is required.
: Describes meaning, range and so on of an argument.
[Term]
[Example] : Presents statement examples.
[Explanation] : Provides detailed function descriptions and precautions.
19-88 MELFA-BASIC V Instructions
Table List of Functions
19−3
Check whether the specified position is within the movement
range.
1: Within the movement range
0: Outside the movement range
Obtain the current position of a workpiece.
<number of encoders>
1 to 8
Acquire the coordinate position of a workpiece being tracked.
Trk On P0,P1,1,M1#
PC2=TrPos(P2)
PC2 above is obtained in the following manner.
PC1=P1+P_EncDlt*(M_Enc-M1#) ' The current position of P1
PC2=PC1*(P_Zero/P0*P2)
Function
Result
Integer
Position
Position