Mitsubishi CR750-Q Series User Manual

21 Appendix
as for workpiece.
180 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then 'case the singular point area
181 If (PTRST.Y < -P3HR.Z And PTRED.Y < -P3HR.Z) Then MY50STS=2 'The position of the work
peace is OK from the singular point if previous.
182 If (PTRED.Y > -P3HR.Z And PTRED.Y < P3HR.Z) Then MY50STS=3 'If the tracking end
position is singular point neighborhood, it is NG.
183 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then MY50STS=3 'If the tracking start
position is singular point neighborhood, it is NG.
184 If (PTRST.Y > P3HR.Z And PTRED.Y > P3HR.Z) Then MY50STS=3 'It is NG if passing over
the singular point.
185 EndIf
186 '/// The processing to singular point of RH-3S*HR ///
187 Else 'If tracking not possible
188 If PX50CUR.Y<0 Then MY50STS=1 'Wait
189 If PX50CUR.Y>M50END Then MY50STS=3 'Move onto the next workpiece
190 If PosCq(PX50CUR)=0 And PX50CUR.Y>=M50STT And PX50CUR.Y<=M50END Then
MY50STS=3 'Outside the movement range
191 EndIf
192 Break
193 Case 2 'Front left -> right
194 M50STT=MX50ST
195 M50END=-MX50ED 'The end side has a negative value
196 If PosCq(PX50CUR)=1 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
197 MY50STS=2 'Tracking possible
198 '/// The processing to singular point of RH-3S*HR ///
199 PTRST.Y = P_CvSpd(MBENCNO%).Y * MTRSTT / 1000
200 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for
workpiece.
201 PTRED.Y = P_CvSpd(MBENCNO%).Y * MTREND / 1000
202 PTRED = PTRED + P50FWCUR 'Position when having finished following
as for workpiece.
203 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then 'case the singular point area
204 If (PTRST.Y > P3HR.Z And PTRED.Y > P3HR.Z) Then MY50STS=2 'The position of the work
peace is OK from the singular point if previous.
205 If (PTRED.Y > -P3HR.Z And PTRED.Y < P3HR.Z) Then MY50STS=3 'If the tracking end
position is singular point neighborhood, it is NG.
206 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then MY50STS=3 'If the tracking start
position is singular point neighborhood, it is NG.
207 If (PTRST.Y < -P3HR.Z And PTRED.Y < -P3HR.Z) Then MY50STS=3 'It is NG if passing over
the singular point.
208 EndIf
209 '/// The processing to singular point of RH-3S*HR ///
210 Else 'If tracking not possible
211 If PX50CUR.Y>0 Then MY50STS=1 'Wait
212 If PX50CUR.Y<0 Then MY50STS=3 'Move onto the next workpiece
213 If PosCq(PX50CUR)=0 And PX50CUR.Y<=M50STT And PX50CUR.Y>=M50END Then
MY50STS=3 'Outside the movement range
214 EndIf
215 Break
216 Case 3 'Left side rear -> front
217 Case 5 'Right side rear -> front
218 M50STT=-MX50ST 'The start side has a negative value
219 M50END=MX50ED
220 If PosCq(PX50CUR)=1 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
221 MY50STS=2 'Tracking possible
222 '/// The processing to singular point of RH-3S*HR ///
223 PTRST.X = P_CvSpd(MBENCNO%).X * MTRSTT / 1000
224 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for
workpiece.
225 PTRED.X = P_CvSpd(MBENCNO%).X * MTREND / 1000
226 PTRED = PTRED + P50FWCUR 'Position when having finished following
as for workpiece.
227 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then 'case the singular point area
228 If (PTRST.X < -P3HR.Z And PTRED.X < -P3HR.Z) Then MY50STS=2 'The position of the work
peace is OK from the singular point if previous.
21-142 Sample Programs

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English