21 Appendix
116 MX81SEC=PDLY2.X 'Check second number(s)
117 GoSub *S81CWOFF 'Release confirmation
118 Cnt 1
119 Accel PAC13.X,PAC13.Y
120 Mov PPT,PUP2.Z Type 0,0 'Move to over the placement position
121 Accel 100,100
122 Return
123 '
124 '### Transportation data setting processing ###
125 *S40DTSET
126 PTBASE=P_100(PWK.X) 'Create reference position
127 TrBase PTBASE,MBENCNO% 'Tracking base setting
128 PGT=PTBASE*POFSET 'Suction position setting
129 GoSub *S46ACSET 'Interrupt definition
130 Return
131 '
132 '### Interrupt definition processing 1 ###
133 *S46ACSET
134 Select PTN.X 'Conveyer position pattern number
135 Case 1 'Front right -> left
136 MSTP1=PRNG.Z 'Following stop distance
137 Def Act 1,P_Fbc(1).Y>MSTP1 GoTo *S91STOP 'To *S91STOP if followed far long
138 Break
139 Case 2 'Front left -> right
140 MSTP1=-PRNG.Z
141 Def Act 1,P_Fbc(1).Y<MSTP1 GoTo *S91STOP
142 Break
143 Case 3 'Left side rear -> front
144 Case 5 'Right side rear -> front
145 MSTP1=PRNG.Z
146 Def Act 1,P_Fbc(1).X>MSTP1 GoTo *S91STOP
147 Break
148 Case 4 'Left side front -> rear
149 Case 6 'Right side front -> rear
150 MSTP1=-PRNG.Z
151 Def Act 1,P_Fbc(1).X<MSTP1 GoTo *S91STOP
152 Break
153 End Select
154 Return
155 '
156 '### Workpiece position confirmation processing ###
157 'PX50CUR:Current workpiece position
158 'MX50ST:Tracking start range
159 'MX50ED:Tracking end range
160 'MX50PAT:Conveyer position pattern number
161 'MY50STS:Result (1: Wait/2: Start tracking/3: Next workpiece)
162 *S50WKPOS
163 MY50STS=0 'Clear return value
164 '/// The processing to singular point of RH-3S*HR ///
165 P50FWCUR=PX50CUR * Inv(P_Tool) 'Position of workpiece in flange
166 PTRST=P_Zero
167 PTRED=P_Zero
168 '/// The processing to singular point of RH-3S*HR ///
169 Select MX50PAT 'Conveyer pattern
170 Case 1 'Front right -> left
171 M50STT=-MX50ST 'The start side has a negative value
172 M50END=MX50ED
173 If PosCq(PX50CUR)=1 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
174 MY50STS=2 'Tracking possible
175 '/// The processing to singular point of RH-3S*HR ///
176 PTRST.Y = P_CvSpd(MBENCNO%).Y * MTRSTT / 1000
177 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for
workpiece.
178 PTRED.Y = P_CvSpd(MBENCNO%).Y * MTREND / 1000
179 PTRED = PTRED + P50FWCUR 'Position when having finished following
Sample Programs 21-141
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