21 Appendix
(3) 1.Prg
1 '### Ver.A3 #################################
2 '# Conveyer tracking, robot operation program
3 '# Program type : 1.prg
4 '# Date of creation/version : 2012.07.31 A3
5 '# MITSUBISHI ELECTRIC CORPORATION.
6 '############################################
7 '
8 '### Main processing ###
9 *S00MAIN
10 GoSub *S90HOME 'Origin return processing
11 GoSub *S10INIT 'Initialization processing
12 *LOOP
13 GoSub *S20TRGET 'Tracked workpiece takeout processing
14 GoSub *S30WKPUT 'Workpiece placing processing
15 GoTo *LOOP
16 End
17 '
18 '### Initialization processing ###
19 *S10INIT
20 '/// Speed related ///
21 Accel 100,100 'Acceleration/deceleration setting
22 Ovrd 100 'Speed setting
23 Loadset 1,1 'Optimal acceleration/deceleration specification
24 OAdl On 'Turning optimal acceleration/deceleration ON
25 Cnt 0
26 Clr 1
27 HOpen 1
28 '/// Initial value setting ///
29 TrClr 1 'Clear tracking buffer 1
30 MWAIT1=0 'Clear workpiece wait flag 1
31 '/// Multitask startup ///
32 M_09#=PWK.X 'Model number specification
33 If M_Run(2)=0 Then 'Confirmation of conveyer 1 multitasking
34 XRun 2,"CM1",1 'Multitasking setting
35 Wait M_Run(2)=1
36 EndIf
37 Priority PRI.X,1
38 Priority PRI.Y,2
39 Return
40 '
41 '### Tracked workpiece takeout processing ###
42 *S20TRGET
43 '/// Tracking buffer check ///
44 *LBFCHK
45 If M_Trbfct(1)>=1 Then GoTo *LREAD 'If a workpiece exists
46 Mov P1 'Move to the pull-off location
47 MWAIT1=0
48 GoTo *LBFCHK
49 '/// Workpiece data acquisition ///
50 *LREAD
51 TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO% 'Read data from the tracking buffer
52 GoSub *S40DTSET 'Transportation data setting
53 '/// Workpiece position confirmation ///
54 *LNEXT
55 PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#) 'Acquire the current workpiece position
56 MX50ST=PRNG.X 'Start distance of the range where the robot can
follow a workpiece
Sample Programs 21-127
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