19 Maintenance of robot program
TrOut (reading tracking output signal and encoder value)
[Function]
Read a tracking output value specified by a general-purpose output and read the value of an external
encoder synchronously with the output.
[Format]
TrOut <Output number>, <Encoder 1 value read variable> [ , [<Encoder 2 value read variable>]
[ , [<Encoder 3 value read variable>] [ , [<Encoder 4 value read variable>]
[ , [<Encoder 5 value read variable>] [ , [<Encoder 6 value read variable>]
[ , [<Encoder 7 value read variable>] [ , [<Encoder 8 value read variable>] ]]]]]]]
[Term]
<Output number> (cannot be omitted):
Specify the number of a general-purpose output to be output.
<Encoder n value read variable> (can be omitted):
Specify a double-precision value variable in which read values of an external encoder are stored.
Note) n is a value in the range from 1 to 8.
[Example]
1 *LOOP1
2 If M_In(10) <> 1 GoTo *LOOP1 ' Check whether a photoelectronic sensor is activated.
3 TrOut 20, M1# , M2# ' Output from general-purpose output No. 20 and store the value of
external encoder No.1 in M1#, and store the value of external encoder
No.2 in M2# synchronously with the output.
4 *LOOP2
5 If M_In(21) <> 1 GoTo *LOOP2 ‘ Wait until the signal (general-purpose input No.21) which shows
acquiring image from the vision sensor is turned on.
6 M_Out(20)=0 ‘ Turn off the No.20 general-purpose output.
[Explanation]
This instruction is used when triggering the vision sensor that calculates positions of workpieces to be
tracked.
It is possible to know the position where workpiece images are acquired by obtaining the external
encoder values synchronously with the output.
The general-purpose output signal specified <Output number> is maintained. Therefore, please turn off
the signal by using the M_Out state ariable when you confirm acquiring of the vision sensor.
19-92 MELFA-BASIC V Instructions
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