Mitsubishi Electric CR800 Series Instruction Manual page 136

15 Maintenance of robot program
TrkChk (Tracking check function)
[Function]
Execute the processing depending on the state of workpiece corresponding to <Condition number> specified.
[Format]
TrkChk □ <Condition number> , <Starting position> , [<Waiting position>] , <Branch destination>
[Terminology]
<Condition number [Integer]>
Specify the condition number correspond to tracking.
Setting range: 1 to 8
<Starting position [Position]>
When there is no workpiece in tracking buffer(no workpiece on the conveyor), specify the starting
position to which
system to which
<Waiting position [Position]> : (can be omitted.)
Specify the waiting position until workpiece enters a tracking possible area.
In the case of vision tracking, a robot moves to the position which has grasped the position through
which workpiece flows and changed the value of X and C coordinates, or Y and C coordinates from the
value of X and Y of a state variable "P_EncDlt" to the specified <Waiting position>.
(*)It is effective
If you omit <Waiting position>, even if workpiece flows, the robot does not move.
By omitting <Waiting position>, you can move to the fixed position. And you can move to the arranged
position by using state variable "P_TrkTarget".
Object
workpiece
<Branch destination [label]>
Specify the label name that jumps when specified workpiece can be followed.
15-124 MELFA-BASIC V or MELFA-BASIC VI instruction
robot moves at the beginning of the system. Mainly, specify the starting position as the
robot moves at the beginning of the system.
for X or Y coordinates in "P_EncDlt", it does not support Z-coordinates.
Workpiece movement direction
Robot operating
Position by "TrkChk"
Tracking
area
<Waiting position>
Forced
Stop area