Mitsubishi CR750-Q Series User Manual

21 Appendix
229 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3 'If the tracking end
position is singular point neighborhood, it is NG.
230 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3 'If the tracking start
position is singular point neighborhood, it is NG.
231 If (PTRST.X > P3HR.Z And PTRED.X > P3HR.Z) Then MY50STS=3 'It is NG if passing over
the singular point.
232 EndIf
233 '/// The processing to singular point of RH-3S*HR ///
234 Else 'If tracking not possible
235 If PX50CUR.X<0 Then MY50STS=1 'Wait
236 If PX50CUR.X>0 Then MY50STS=3 'Move onto the next workpiece
237 If PosCq(PX50CUR)=0 And PX50CUR.X>=M50STT And PX50CUR.X<=M50END Then
MY50STS=3 'Outside the movement range
238 EndIf
239 Break
240 Case 4 'Left side front -> rear
241 Case 6 'Right side front -> rear
242 M50STT=MX50ST
243 M50END=-MX50ED 'The end side has a negative value
244 If PosCq(PX50CUR)=1 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
245 MY50STS=2 'Tracking possible
246 '/// The processing to singular point of RH-3S*HR ///
247 PTRST.X = P_CvSpd(MBENCNO%).X * MTRSTT / 1000
248 PTRST = PTRST + P50FWCUR 'Position when beginning to follow as for
workpiece.
249 PTRED.X = P_CvSpd(MBENCNO%).X * MTREND / 1000
250 PTRED = PTRED + P50FWCUR 'Position when having finished following
as for workpiece.
251 If (PTRST.Y > -P3HR.Z And PTRST.Y < P3HR.Z) Then 'case the singular point area
252 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.
253 If (PTRED.X > -P3HR.Z And PTRED.X < P3HR.Z) Then MY50STS=3 'If the tracking end
position is singular point neighborhood, it is NG.
254 If (PTRST.X > -P3HR.Z And PTRST.X < P3HR.Z) Then MY50STS=3 'If the tracking start
position is singular point neighborhood, it is NG.
255 If (PTRST.X < -P3HR.Z And PTRED.X < -P3HR.Z) Then MY50STS=3 'It is NG if passing over
the singular point.
256 EndIf
257 '/// The processing to singular point of RH-3S*HR ///
258 Else 'If tracking not possible
259 If PX50CUR.X>0 Then MY50STS=1 'Wait
260 If PX50CUR.X<0 Then MY50STS=3 'Move onto the next workpiece
261 If PosCq(PX50CUR)=0 And PX50CUR.X<=M50STT And PX50CUR.X>=M50END Then
MY50STS=3 'Outside the movement range
262 EndIf
263 Break
264 End Select
265 P50TRST=PTRST '/// The processing to singular point of RH-3S*HR ///
266 P50TRED=PTRED '/// The processing to singular point of RH-3S*HR ///
267 If MY50STS=0 Then Error 9199 'Program modification required
268 Return
269 '
270 '### Origin return processing ###
271 *S90HOME
272 Servo On 'Servo ON
273 P90CURR=P_Fbc(1) 'Acquire the current position
274 If P90CURR.Z<P1.Z Then 'If the current height is below the origin
275 Ovrd 10
276 P90ESC=P90CURR 'Create an escape position
277 P90ESC.Z=P1.Z
278 Mvs P90ESC 'Move to the escape position
279 Ovrd 100
280 EndIf
281 Mov P1 'Move to the origin
282 Return
Sample Programs 21-143

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English