Mitsubishi CR750-Q Series User Manual

21 Appendix
55 GoTo *LBFCHK
56 '/// Workpiece data acquisition ///
57 *LREAD
58 TrRd PBPOS,MBENC#,MBWK%,1,MBENCNO% 'Read data from the tracking buffer
59 GoSub *S40DTSET 'Transportation data setting
60 '/// Workpiece position confirmation ///
61 *LNEXT
62 PX50CUR=TrWcur(MBENCNO%,PBPOS,MBENC#) 'Acquire the current workpiece position
63 MX50ST=PRNG.X 'Start distance of the range where the robot can
follow a workpiece
64 MX50ED=PRNG.Y 'End distance of the range where the robot can
follow a workpiece
65 MX50PAT=PTN.X 'Conveyer position pattern number
66 GoSub *S50WKPOS 'Workpiece position confirmation processing
67 If MY50STS=3 Then GoTo *LBFCHK 'Already passed. Go to the next workpiece
68 If MY50STS=2 Then GoTo *LTRST 'Operable: start tracking
69 If MWAIT=1 Then GoTo *LNEXT 'Wait for incoming workpieces
70 '/// To standby position ///
71 PWAIT=P1 'Change to workpiece wait posture
72 Select PTN.X 'Conveyer position pattern number
73 Case 1 To 2 'When the conveyer is the front of the robot
74 PWAIT.X=PX50CUR.X 'X coordinates of the robot are matched to
workpiece.
75 Case 3 To 6
76 PWAIT.Y=PX50CUR.Y 'Y coordinates of the robot are matched to
workpiece.
77 End Select
78 PWAIT.Z=PX50CUR.Z+PUP1.X
79 PWAIT.C=PX50CUR.C
80 Mov PWAIT 'Move to workpiece wait posture PWAIT
81 MWAIT1=1 'Set workpiece wait flag
82 GoTo *LNEXT
83 '/// Start tracking operation ///
84 *LTRST
85 Accel PAC1.X,PAC1.Y
86 Cnt 1,0,0
87 Act 1=1 'Monitor the robot following workpieces too far
88 Trk On,PBPOS,MBENC#,PTBASE,MBENCNO% 'Tracking operation start setting
89 Mov PGT,PUP1.Y Type 0,0 'Move to tracking midair position
90 Accel PAC2.X,PAC2.Y
91 Mov PGT Type 0,0 'Move to a suction position
92 GoSub *S85CLOSE 'Turn suction ON
93 MX80ENA=PHND.X 'Check instruction
94 MX80SIG=PHND.Y 'Check signal number
95 MX80SEC=PDLY1.X 'Check second number(s)
96 GoSub *S80CWON 'adsorbtion confirmation
97 Cnt 1
98 Accel PAC3.X,PAC3.Y
99 Mov PGT,PUP1.Z Type 0,0 'Move to tracking midair position
100 Trk Off 'Tracking operation end setting
101 Act 1=0
102 Accel 100,100
103 MWAIT = 0
104 Return
105 '
106 '### Workpiece placing processing ###
107 *S30WKPUT
108 Accel PAC11.X,PAC11.Y
109 Mov PPT,PUP2.Y 'Move to over the placement position
110 Accel PAC12.X,PAC12.Y
111 Cnt 1,0,0
112 Mov PPT Type 0,0 'Move to the placement position
113 GoSub *S86OPEN 'Turn suction OFF
114 MX81ENA=PHND.X 'Check instruction
115 MX81SIG=PHND.Z 'Check signal number
21-140 Sample Programs

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English