Mitsubishi Electric CR800 Series Instruction Manual page 140

15 Maintenance of robot program
TrkFine(Tracking follow positioning function)
[Function]
The accuracy at the tracking is improved until "TrkFine Off" is executed.
[Format]
TrkFine □ On
TrkFine □ Off
[Reference program]
M_TrkBuf(1) = 1
P_TrkBase(1) = PTBASE
・・・・・
'/// Tracking buffer check ///
*LBFCHK
TrkChk 1, PSave, PWait, *LTRST
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ' 0:No workpiece / 1: Workpiece passed over->"LBFCHK".
TrkWait *LBFCHK
・・・・・
'/// Start tracking operation ///
*LTRST
TrkFine On
TrkMv On, PGTUP, 1, *S91STOP
・・・・・ adsorption / Release / assembly etc. ・・・・・
TrkFine Off
TrkMv Off
[Explanation]
(1) The system default value is TrkFine Off.
(2) When the tracking function valid state (Trk On), the TrkFine command will be ignored even if it is valid (i.e., it
will be treated as invalid, but the status will be kept).
(3) When the follow positioning function valid state (TrkFine On), the Cnt command will be ignored even if it is
valid (i.e., it will be treated as invalid, but the status will be kept).
(4) When the follow positioning function valid state (TrkFine On), the Fine command will be ignored even if it is
valid (i.e., it will be treated as invalid, but the status will be kept).
15-128 MELFA-BASIC V or MELFA-BASIC VI instruction
' <Buffer number> is "1".
' P_TrkBase(1) variable is PTBASE variable.
'No workpiece->PSave/ Wait for the workpiece->PWait/
Tracking possible->Jump to "LTRST".
' Wait for the workpiece / Jump to "LBFCHK" at the timeout.
'Validate TrkFine
'Start the interrupt check->Trk On->Move to the tracking upper
position / In the case of exceeding the distance specified by
"M_TrkStop"-Trk Off→Jump to "S91STOP"
'Invalidate TrkFine
'Stop the interrupt check -> Trk Off