Mitsubishi Electric CR800 Series Instruction Manual page 130

15 Maintenance of robot program
Number of
Variable name
arrays
M_TrkArcEnc Condition
Number
1 to 8.
M_TrkChk Condition
Number
1 to 8.
P_TrkWork Condition
Number
1 to 8.
M_TrkEnc Condition
Number
1 to 8.
M_TrkKind Condition
Number
1 to 8.
M_TrkEncNo Condition
Number
1 to 8.
P_TrkTarget
buffer No.
M_Trbfct
1 to The first
argument of
parameter
[TRBUF]
number of
P_CvSpd
encoders
1 to 8
M_Hnd Hand Number
1 to 8
M_TrkType Condition
Number
1 to 8.
P_TrkPixel Condition
Number
1 to 8.
M_NvOpen Vision Sensor
Number
1 to 8
15-118 MELFA-BASIC V or MELFA-BASIC VI instruction
The encoder value towards which the
workpiece advanced on the arc after a
sensor reacted
TrkChk result
Workpiece position when the sensor
taken out from the tracking buffer reacts.
Workpiece Encoder when the sensor
taken out from the tracking buffer reacts.
Model number of the workpiece taken out
from the tracking buffer.
Encoder number taken out from the
tracking buffer.
- The workpiece coordinate where the robot
is following
Number of data items stored in the tracking
buffer
Conveyer speed (mm, rad/sec)
Hand open/close instruction and
Hand open/close states.
※Used when you open or close the hand
during "WthIf".
The type of the tracking function
0 – Straight line tracking
1 – Circular arc tracking
Workpiece pixel position when the sensor
taken out from the tracking buffer reacts.
Indicates the vision sensor line connection
status.
Function
Attribute
Data type
(*1)
R Long-precision
real number
R Integer
R Position
R Long-precision
real number
R Integer
R Integer
R Position
R Integer
R Position
R/W Integer
R Integer
R Position
R Integer