Mitsubishi Electric CR800 Series Instruction Manual page 189
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Circular arc movement in Tracking
16.7.
Screw fastening and decoration on the work, etc are available in the tracking system. Here, explain
the example which draws the circle on the basis of the adsorption position.
(1) High speed and accuracy tracking
<Conditions>
*The adsorption position taught by Program C is the starting point of the circle.
*The offset from the adsorption position of pass and end position of circle decided as follows.
*Create PS1 (pass point) and PS2 (end point) from the relative distance.
*Use the Mvr command (circle command) and move on the circle of PGet->PS1 ->PS2.
The example of program change of the above <conditions> is shown in the following.
Before sample program change
TrkMv On, PGetUp, 1, *S91STOP
Mov PGet Type 0,0
Dly PDly1.x
Mov PGetUp Type 0,0
TrkMv Off
・・・・・
P_TrkBase(MWrkNo) = P_107(MWrkNo)
PGet = P_TrkBase(MWrkNo)
(2) Circular arc tracking
Before sample program change
39 Mvs PGet
40 Dly PDly1.X
41 Mvs PGetUp
・・・・・
70 P_TrkBase(MWrkNo) = P_107(MWrkNo)
71 PGet = P_TrkBase(MWrkNo)
After sample program change
TrkMv On, PGetUp, 1, *S91STOP
Mov PGet Type 0,0
Dly PDly1.x
'
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A
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-
>
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-
>
M
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X
'
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-
-
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A
A
d
d
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>
>
Mov PGetUp Type 0,0
TrkMv Off
・・・・・
P_TrkBase(MWrkNo) = P_107(MWrkNo)
PGet = P_TrkBase(MWrkNo)
'
'
<
<
A
A
d
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>
-
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>
P
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=
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P
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P
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'
<
-
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>
After sample program change
Mvs PGet
Dly PDly1.X
'
<
A
d
d
>
-
>
'
<
A
d
d
>
-
>
M
v
c
P
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1
,
P
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2
,
P
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3
M
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P
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1
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P
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2
,
P
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3
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P
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D
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P
D
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1
.
X
D
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P
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y
1
.
X
'
'
<
<
-
-
<
<
A
A
d
d
d
d
>
>
Mvs PGetUp
・・・・・
P_TrkBase(MWrkNo) = P_107(MWrkNo)
PGet = P_TrkBase(MWrkNo)
'
'
<
<
A
A
d
d
d
d
>
>
-
-
>
>
P
P
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1
1
=
=
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P
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t
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*
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P
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-
'
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Circular arc movement in Tracking 16-177
16 In such a case (improvement example)
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