19 Maintenance of robot program
TrClr (tracking data clear)
[Function]
Clears the tracking data buffer.
[Format]
TrClr [<Buffer number>]
[Term]
<Buffer number> (cannot be omitted):
Specify the number of a general-purpose output to be output.
Setting range:1 to 4 (The first argument of parameter [TRBUF])
[Example]
1 TrClr 1 ' Clear tracking data buffer No. 1.
2 *LOOP
3 If M_In(8)=0 Then GoTo *LOOP ' Jump to *LOOP if input signal No. 8, to which a photoelectronic
sensor is connected, is OFF.
4 M1#=M_Enc(1) ' Acquire data of encoder number 1 at the time when input signal
No. 8 is turned on and store it in M1#.
5 TrWrt P1, M1#,MK ' Write workpiece position data P1, encoder value M1# at the time
an image is acquired and model number MK in the buffer.
[Explanation]
Clear information stored in specified tracking buffer (1 to 4).
Execute this instruction when initializing a tracking program.
19-90 MELFA-BASIC V Instructions
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