Mitsubishi Electric MELFA CR800-D Series - Page 119

6 Coordinated control for additional axes
Additional axis tracking 6-109
P_TrkBase
【Function】
Specify and refer to the origin of the workpiece to be followed by additional axis tracking.
The robot moves to the relative position correspond to this reference point by the movement instruction during
the additional axis tracking
【Format】
P_TrkBase(<Condition number>) = <Position data>
<Position variable> = P_TrkBase(<Condition number>)
【Terminology】
< Condition number > Specify the condition number corresponding to the tracking.
Setting range：1 to 8
< Position data > Specify the base position of the tracking.
< Position variables > Return the base coordinates of the specified tracking.
【Reference program】
1 P_TrkBase = PTBASE ' Specify the origin of the workpiece used by additional axis tracking.
【Explanation】
(1) Specify the workpiece coordinate system origin used by additional axis tracking.
(2) You can confirm the workpiece coordinate system origin by referencing “P_TrkBase”.
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated
as "1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8."
Entering anything else causes L3110 (Argument value range over) error to occur.