Mitsubishi CR750-Q Series User Manual

19 Maintenance of robot program
TrRd (reading tracking data)
[Function]
Read position data for tracking operation, encoder data and so on from the data buffer.
[Format]
TrRd  <Position data> [ , <Encoder data>] [ , [<Model number>] [ , [<Buffer number>] [ , <Encoder number>] ] ] ]
[Term]
<Position data> (cannot be omitted):
Specify a variable that contains workpiece positions read from the buffer.
<Encoder data> (can be omitted):
Specify a variable that contains encoder values read from the buffer.
<Model number> (can be omitted):
Specify a variable that contains model numbers read from the buffer.
<Buffer number> (can be omitted):
Specify a number of a buffer from which data is read.
1 is set if the argument is omitted.
Setting range: 1 to 4(The first argument of parameter [TRBUF])
<Encoder number> (can be omitted):
Specify a variable that contains values of external encoder numbers read from the buffer.
[Example]
(1) Tracking operation program
1 TrBase P0 ' Specify the workpiece coordinate origin at the teaching position.
2 TrRd P1,M1,MK ' Read the workpiece position data from the data buffer.
3 Trk On,P1,M1 ' Start tracking of a workpiece whose measured position is P1 and encoder value
at the time of measurement is M1.
4 Mvs P2 ' Setting the current position of P1 as P1c, make the robot operate while following
workpieces with the target position of P1c*P_Zero/P0*PW2.
5 HClose 1 ' Close hand 1.
6 Trk Off ' End the tracking operation.
(2) Sensor data reception program
1 *LOOP
2 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.
3 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#.
4 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]
 Read the workpiece position (robot coordinates), encoder value, model number and encoder number
stored by the TrWrt instruction from the specified buffer.
 If the TrRd instruction is executed when no data is stored in the specified buffer, Error 2540(There is no
read data) occurs.
MELFA-BASIC V Instructions 19-93

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English