Maintenance Of Robot Program; Melfa-Basic V Instructions; List Of Instructions; List Of Robot Status Variables - Mitsubishi Electric CR750 Series Instruction Manual

10.

Maintenance of robot program

This chapter explains information required when maintaining the sample programs (robot program language
MELFA-BASIC V and dedicated input/output signals).
10.1.

MELFA-BASIC V Instructions

The lists of instructions, status variables and functions related to tracking operation are shown below.
Please refer to the separate manual "Detailed Explanations of Functions and Operations" for further information
about MELFA-BASIC V.

10.1.1. List of Instructions

Instruction
name
TrClr Clear the tracking data buffer.
TrWrt Write workpiece data in the tracking data buffer.
TrkArc Set the information of the arc conveyer.
TrkChk Execute the processing depending on the state of workpiece corresponding to <Condition
number> specified.
TrkWait Wait until workpiece corresponding to <Condition number> specified enters to the tracking
area.
TrkMv Execute the next processing. Validate specified interruption, Start tracking, Move to the
tracking upper position by Joint interpolation movement.

10.1.2. List of Robot Status Variables

Number of
Variable name
arrays
M_Enc
Number of
encoder
1 to 8
M_EncL Number of
encoder
1 to 8
P_EncDlt Number of
encoder
1 to 8
P_TrkSensor Condition
Number
1 to 8.
M_EncSensor Condition
Number
1 to 8.
M_EncStart Condition
Number
1 to 8.
M_EncEnd Condition
Number
1 to 8.
M_EncStop Condition
Number
1 to 8.
List of Instructions
Table 10-1
List of Robot Status Variables
Table 10-2
Function
External encoder data
External encoder data can be rewritten.
If this state variable does not set
parameter "TRMODE" to "1", the value
becomes "0".
The stored encoder data
※ 0 always returns in D-type.
Amount of robot movement per encoder
pulse
The location of the workpiece when a
sensor reacted
The encoder data at the position in which
the sensor reacts to workpiece. Possible
to change the value to adjust it.
The encoder data at start position of
Tracking starting possible area
*It's changed by a program "A1"
automatically. Don't
variable manually. When it's changed,
arc information becomes abnormal.
The encoder value in the end position of
Tracking starting possible area
The encoder value in the location where a
tracking is ended compulsorily
*It's changed by a program "A1"
automatically. Don't
variable manually. When it's changed,
arc information becomes abnormal.
10 Maintenance of robot program
Function
Attribute
Read/Write
Read/Write
Read/Write
Read Only
Read/Write
Read/Write
change this
Read/Write
Read/Write
change this
MELFA-BASIC V Instructions 10-67
Data type
(*1)
Double-precision
real number
Double-precision
real number
Position
Position
Long-precision
real number
Long-precision
real number
Long-precision
real number
Long-precision
real number