Mitsubishi Electric CR800 Series Instruction Manual page 179

M_TrkType
[Function]
Specify and refer to the tracking function type.
[Format]
[Writing]
M_TrkType (<Condition number>) = <Value>
[Referencing]
<Numeric variable> = M_TrkType (<Condition number>)
[Terminology]
< Condition number [Integer]>
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
<Value [Integer]>
Specify the tracking function type.
Setting range： 0 = Straight line conveyer tracking
1 = Circular arc conveyer tracking
< Numeric Variable [Integer]>
Return the specified tracking function type.
[Reference program]
M_TrkType(1) = 1
・・・・・
TrkChk 1, PSave, PWait, *LTRST
[Explanation]
(1) Specify the tracking function type.
(2) The specified tracking function type can be checked by referring to "M_TrkType".
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated
as "1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.
(5) When values to be specified in <Value> are out of range, the L3110 (Argument value range over) error
occurs.
' The tracking function type corresponding to the condition number 1 uses
"Circular arc".
' Check the workpiece in the tracking buffer which is specified.
MELFA-BASIC V or MELFA-BASIC VI instruction 15-167
15 Maintenance of robot program