Example Of Using Multitask; Robot Work Details - Mitsubishi MELFA CR1D Instruction Manual

4.2.6 Example of using multitask

An example of the multitask execution is given in this section.

(1) Robot work details.

The robot programs are the "movement program" and "position data lead-in program".
The "movement program" is executed with slot 1, and the "position data lead-in program" is executed with
slot 2. If a start command is output to the sensor while the robot is moving, a request for data will be made to
the personal computer via the position data lead-in program. The personal computer sends the position data
to the robot based on the data request. The robot side leads in the compensation data via the position data
lead-in program.
<Process flow>
Operation program
Workpiece pickup
Sensor recognition
Above mounting
Data confirmation
Workpiece mounting
P1: Workpiece pickup position (Vacuum timer Dly 0.05)
P2: Workpiece placing position (Release timer Dly 0.05)
P3: Vision pre-position (Do not stop at penetration point Cnt)
P4: Vision shutter position (Do not stop at penetration point Cnt)
P_01: Vision compensation data
P20: Position obtained by adding P2 to vision compensation data (relative operation)
X
P1
P2
Y
0
<Slot1>
Start
P1
Sensor start
P4
P2
position
P20
P3 :No acceleration/deceleration
P4 : No acceleration/deceleration
Position to move vision
<Slot2>
Position data lead
-in program
RS-
Start
232C
Data reception
Sensor start
Data reception
Position data
setting
Background execution
4MELFA-BASIC IV
<Sensor>
Personal computer
Start
Data reception
Position data
transmission
Multitask function 4-122