Mitsubishi Electric CR800 Series Instruction Manual page 154

15 Maintenance of robot program
P_TrkSensor
[Function]
The position of workpiece to which the sensor reacted is returned.
[Format]
[Read]
<Position Variables> = P_TrkSensor(<Condition number>)
[Terminology]
<Condition number [Integer]>： (can be omitted.)
Specify the tracking condition number.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value.
<Position Variables [Position]>
Specify a position variable that stores the position of workpiece to which the sensor reacts.
[Reference Program]
PWrk = P_TrkSensor(1)
TrWrt PWrk, MEncData#, MWrkNo, 1, MEncNo ' Workpiece information is written in a tracking buffer.
[Explanation]
(1) The position of workpiece to which the sensor of specified <Condition number> reacted is returned.
(2) When the "TrkArc" and "TrkChk" command isn't executed, the value of all zero returns.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(4) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.
(5) This variable is read only.
15-142 MELFA-BASIC V or MELFA-BASIC VI instruction
'Workpiece position is stored in positional variable.