Mitsubishi Electric CR750-D Series Instruction Manual page 86

10 Maintenance of robot program
TrkMv (Tracking movement function)
[Function]
Execute the next processing. Validate specified interruption, Start tracking, Move to the tracking upper position
by Joint interpolation movement.
[Format]
TrkMv □ On , <Tracking upper position> [, <Interrupt number> , <Branch destination>]
TrkMv □ Off
[Terminology]
<Tracking upper position [position]>
Specify the tracking upper position to follow. (Example : PGT * PGUP1)
<Interrupt number [Integer]> : (can be omitted.)
Specify the interrupt number checks the following.
・When tracking, does the workpiece reach <Forced Ending Distance > specified for robot state variable
"M_TrkStop()"?
Setting range: 1 to 8
<Branch Destination [Label]> :(can be omitted.)
Specify the jumping label name when specified workpiece reach <Forced Ending Distance >.
[Reference program]
M_TrkBuf(1) = 1
P_TrkBase(1) = PTBASE
・・・・・
'/// Tracking buffer check ///
*LBFCHK
TrkChk 1, PSave, PWait, *LTRST
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK ' 0:No workpiece / 1: Workpiece passed over->"LBFCHK".
TrkWait *LBFCHK
・・・・・
'/// Start tracking operation ///
*LTRST
TrkMv On, PGTUP, 1, *S91STOP
・・・・・ adsorption / Release / assembly etc. ・・・・・
TrkMv Off
[Explanation]
(1) In the case of "TrkMv On", if the workpiece position exceed the distance specified by "M_TrkStop", execute
the interrupt processing that jump to label specified for <Branch destination> by using <Interrupt number>.
(2) After the starting of the above interrupt monitoring, start tracking on upper position.
(3) In the case of "TrkMv Off", stop the interrupt monitoring specified in "TrkMv On", stop tracking.
(4) <Position data>, <Encoder data>, <Reference position data>, <Encoder number> which is necessary for
conventional "Trk On" uses the data in the tracking buffer correspond to <Condition number> specified by
"TrkChk" (Buffer number specified by state variable "M_Trkbuf") and the data specified by state variable
"P_TrkBase".
(5) The data in the tracking buffer is confirmed by state variable "P_TrkWork","M_TrkEnc","M_TrkKind"
and "M_TrkEncNo".
(6) When there is no work piece in back from the starting position of tracking area and this command is
executed, L2580 (Workpiece isn't in tracking area) error occurs.
(7) If you omit <Interrupt number> and <Branch destination>, the interrupt processing does not become
effective. But you can specify another interrupt processing by using "Def MoTrg" and "Def Act".
(8) If you appoint the label which does not exist as "Branch destination", error L3600_00000(Jump destination
does not exist) occurs.
10-76 MELFA-BASIC V Instructions
' <Buffer number> is "1".
' P_TrkBase(1) variable is PTBASE variable.
'No workpiece->PSave/ Wait for the workpiece->PWait/
Tracking possible->Jump to "LTRST".
' Wait for the workpiece / Jump to "LBFCHK" at the timeout.
'Start the interrupt check->Trk On->Move to the tracking upper
position / In the case of exceeding the distance specified by
"M_TrkStop"-Trk Off→Jump to "S91STOP"
'Stop the interrupt check -> Trk Off