Mitsubishi CR750-Q Series User Manual

21 Appendix
57 MX50ED=PRNG.Y 'End distance of the range where the robot can
follow a workpiece
58 MX50PAT=PTN.X 'Conveyer position pattern number
59 GoSub *S50WKPOS 'Workpiece position confirmation processing
60 If MY50STS=3 Then GoTo *LBFCHK 'Already passed. Go to the next workpiece
61 If MY50STS=2 Then GoTo *LTRST 'Operable: start tracking
62 If MWAIT=1 Then GoTo *LNEXT 'Wait for incoming workpieces
63 '/// To standby position ///
64 PWAIT=P1 'Change to workpiece wait posture
65 Select PTN.X 'Conveyer position pattern number
66 Case 1 To 2 'When the conveyer is the front of the robot
67 PWAIT.X=PX50CUR.X 'X coordinates of the robot are matched to
workpiece.
68 Case 3 To 6
69 PWAIT.Y=PX50CUR.Y 'Y coordinates of the robot are matched to
workpiece.
70 End Select
71 PWAIT.Z=PX50CUR.Z+PUP1.X
72 PWAIT.C=PX50CUR.C
73 Mov PWAIT 'Move to workpiece wait posture PWAIT
74 MWAIT1=1 'Set workpiece wait flag
75 GoTo *LNEXT
76 '/// Start tracking operation ///
77 *LTRST
78 Accel PAC1.X,PAC1.Y
79 Cnt 1,0,0
80 Act 1=1 'Monitor the robot following workpieces too far
81 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO% 'Tracking operation start setting
82 Mov PGT,PUP1.Y Type 0,0 'Move to tracking midair position
83 Accel PAC2.X,PAC2.Y
84 Mov PGT Type 0,0 'Move to a suction position
85 GoSub *S85CLOSE 'Turn suction ON
86 MX80ENA=PHND.X 'Check instruction
87 MX80SIG=PHND.Y 'Check signal number
88 MX80SEC=PDLY1.X 'Check second number(s)
89 GoSub *S80CWON 'adsorbtion confirmation
90 Cnt 1
91 Accel PAC3.X,PAC3.Y
92 Mov PGT,PUP1.Z Type 0,0 'Move to tracking midair position
93 Trk Off 'Tracking operation end setting
94 Act 1=0
95 Accel 100,100
96 MWAIT = 0
97 Return
98 '
99 '### Workpiece placing processing ###
100 *S30WKPUT
101 Accel PAC11.X,PAC11.Y
102 Mov PPT,PUP2.Y 'Move to over the placement position
103 Accel PAC12.X,PAC12.Y
104 Cnt 1,0,0
105 Mov PPT Type 0,0 'Move to the placement position
106 GoSub *S86OPEN 'Turn suction OFF
107 MX81ENA=PHND.X 'Check instruction
108 MX81SIG=PHND.Z 'Check signal number
109 MX81SEC=PDLY2.X 'Check second number(s)
110 GoSub *S81CWOFF 'Release confirmation
111 Cnt 1
112 Accel PAC13.X,PAC13.Y
113 Mov PPT,PUP2.Z Type 0,0 'Move to over the placement position
21-128 Sample Programs

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English