15. Maintenance Of Robot Program; Melfa-Basic V Or Melfa-Basic Vi Instruction; List Of Instructions - Mitsubishi Electric CR800 Series Instruction Manual

15 Maintenance of robot program

15. Maintenance of robot program

This chapter explains information required when maintaining the sample robot programs (robot program
language MELFA-BASIC V or MELFA-BASIC VI, and dedicated input/output signals).

MELFA-BASIC V or MELFA-BASIC VI instruction

15.1.
The lists of instructions, status variables and functions related to tracking operation are shown below.
Refer to the separate manual "Detailed Explanations of Functions and Operations" for further information about
MELFA-BASIC V or MELFA-BASIC VI.

List of Instructions

15.1.1.
High speed
Instruction
and accuracy
name
tracking
TrClr
○
TrWrt
○
TrRd
○
TrkChk
○
TrkWait
○
TrkMv
○
TrkFine
○
TrkTrg
○
NVOpen
○
NVClose
○
NVLoad
○
EBRead
○
TrkArc
15-116 MELFA-BASIC V or MELFA-BASIC VI instruction
Table 15-1 List of Instructions
Circular arc
tracking
Clear the tracking data buffer.
○
Write workpiece data in the tracking data buffer.
○
Read workpiece data from the tracking data buffer.
○
Execute the processing depending on the state of workpiece
○
corresponding to <Condition number> specified.
Wait until workpiece corresponding to <Condition number>
○
specified enters to the tracking area.
Execute the next processing. Validate specified interruption, Start
tracking, Move to the tracking upper position by Joint interpolation
○
movement.
The accuracy at the tracking is improved until "TrkFine Off" is
executed.
Request the specified vision sensor to capture an image, and
acquires encoder value after the SKIP input receives the signal
from the vision sensor.
Connects with the vision sensor and logs on to the vision sensor.
Cuts off the connection with vision sensor.
Puts the specified vision program into the state in which it can be
started.
Reads the data for which the tag name of the vision sensor is
specified.
Sets circular arc conveyer information.
○
Function