Creation Of Robot Program - Mitsubishi Electric MELFA CR800-D Series User Manual

6.3.6 Creation of robot program

In this chapter, robot program language MELFA-BASIC VI which is used in this function is explained.
6.3.6.1. The list of robot status variable
The list of status variable related to this function is below.
Variable name Number
of array
M_AxTrkWkN -
o
P_WkCalib 1
P_TrkPAcl 1
P_TrkPDcl 1
P_TrkBase 1
P_TrkTarget -
(*1) R・・・Only read is possible.
6.3.6.2. Detail explanation of robot status variable
Detail of status variable of this function is below.
The meanings of the items used to explain the status variables are as follows.
【Function】
【Format】
【Terminology】
【Reference program】
【Explanation】
Table 6-12 The list of robot status variable
Specify and refer to the workpiece which is the target of
the additional axis tracking.
Specify and refer to offset amount of axis to which work
coordinate is attached.
Specify the additional axis tracking
coefficient.
Specify the additional axis tracking
coefficient.
Refer to the workpiece reference position which is the target
Of the additional axis tracking.
Refer to the workpiece current position which is the target of
the additional axis tracking.
R/W・・・Read and write is possible.
：This indicates a function of a variable.
：This indicates how to enter arguments of valiable.
[ ] means that arguments can be omitted. System status variables can be
used in conditional expressions, as well as reference and assignment
statements. In the format example, only reference and assignment
statements are given to make the description simple.
：This indicates the meaning and range of an argument.
：An example program using variables is shown.
：This indicates detailed functions and precautions.
6 Coordinated control for additional axes
Function
acceleration adjustment
deceleration adjustment
Attribute Data type
(*1)
R/W Interger
R/W Position
R/W Position
R/W Position
R/W Position
R Position
Additional axis tracking 6-105