Mitsubishi Electric CR800 Series Instruction Manual page 137

[Reference program]
*LBFCHK
・・・・・
TrkChk 1, P1, PWAIT, *LTRST
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK
TrkWait *LBFCHK
[Explanation]
(1) Workpiece information is taken out of the tracking buffer of state variable "M_TrkBuf"
corresponding to <condition number >.The position of the workpiece is checked by using the
range specified for robot state variable
"M_EncSensor","M_EncStart","M_EncEnd","M_EncStop","M_TrkStart","M_TrkEnd","M_TrkStop"
The checked result is stored in robot state variable "M_TrkChk".
(2) Workpiece information which is taken out of the specified tracking buffer is in state variable
"P_TrkWork", "M_TrkEnc", "M_TrkKind" , "M_TrkEncNo" and "P_TrkPixel" when "TrkChk" is
executed.
(3) If state variable "M_TrkBuf" is not specified when "TrkChk" is executed, buffer number is assumed
to be "1".
(4) Execute the following processings according to the execution result of this command.
M_TrkChk
value
0 No workpiece in the tracking
buffer.
1 There is workpiece information in
the tracking buffer.
And the workpiece has passed the
tracking starting possible area.
2 There is workpiece information in
the tracking buffer.
And the workpiece exists in front
of the tracking starting possible
area.
3 There is workpiece information in
the tracking buffer.
And the workpiece exists in the
tracking starting possible area.
(5) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8."
Entering anything else causes L3110_99000 (Argument value range over) error to occur.
(6) If you appoint the label which does not exist as "Branch destination", error L3600_00000 (Jump
destination does not exist) occurs.
'No workpiece->P1/ Wait for the workpiece->PWAIT/
'0:No workpiece / 1: Workpiece passed over ->"LBFCHK".
'Wait for the workpiece / Jump to "LBFCHK" at the timeout.
Execution result
Tracking possible->Jump to "LTRST".
Processing
Execute the process that
move to specified
<Starting position>.
No processing.
Confirm the workpiece
position.
Change the position
data of specified
<Waiting position>.
Move to the position.
Jump to the specified
<Branch destination>.
MELFA-BASIC V or MELFA-BASIC VI instruction 15-125
15 Maintenance of robot program
Robot operation
Robot move from
current position to
<Starting position>.
Robot does not move.
Robot moves from the
current position to the
position to which the
workpiece flows.
Robot does not move.