Mitsubishi Electric CR800 Series Instruction Manual page 190
For industrial robot
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Also See for CR800 Series:
- Special specifications manual (156 pages) ,
- Ethernet function instruction manual (146 pages) ,
- Instruction manual (146 pages)
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16 In such a case (improvement example)
Draw the square while doing the Tracking
16.8.
Here, explain the example which draws the outline of the following square workpiece on the basis of
the adsorption position.
Position of TrBase（P0）
Position to follow（PB）
(1) High speed and accuracy tracking
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)
16-178 Draw the square while doing the Tracking
After sample program change
TrkMv On, PGetUp, 1, *S91STOP
Mov PGet Type 0,0
Dly PDly1.x
'
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Mov PGetUp Type 0,0
TrkMv Off
・・・・・
P_TrkBase(MWrkNo) = P_107(MWrkNo)
PGet = P_TrkBase(MWrkNo)
'
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After sample program change
Mvs PGet
Dly PDly1.X
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Mvs PGetUp
・・・・・
P_TrkBase(MWrkNo) = P_107(MWrkNo)
PGet = P_TrkBase(MWrkNo)
'
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'
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Position to follow（PA）
Position to follow（PC）
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