Mitsubishi CR750-Q Series User Manual

21 Appendix
283 '
284 '### Tracking interruption processing ###
285 *S91STOP
286 Act 1=0
287 Trk Off
288 GoSub *S86OPEN 'Release suction
289 P91P=P_Fbc(1) 'Acquire the current position
290 P91P.Z=P1.Z
291 Mvs P91P Type 0,0 'Raise
292 Mov P1 'Return to the origin once
293 GoTo *LBFCHK
294 '
295 '##### Suction of substrates #####
296 *S85CLOSE
297 HClose 1 'Turn suction ON
298 Return
299 '##### Suction/release of substrates #####
300 *S86OPEN
301 HOpen 1 'Turn suction OFF
302 Return
303 '
304 '##### Turning on the signal is waited for #####
305 'MX80ENA:ENABLE/DISABLE of check(1/0)
306 'MX80SIG:Check signal number
307 'MX80SEC:Check second number(S)
308 'MY80SKP:OK/TIMEOUT(1/0)
309 *S80CWON
310 If MX80ENA=1 Then 'If the signal check is ENABLE
311 M_Timer(1)=0
312 MY80SKP=0
313 MX80SEC=MX80SEC * 1000 'Second -> Millisecond
314 *L80LOP
315 If (M_Timer(1)>MX80SEC) Or (MY80SKP<>0) Then *L80END
316 If M_In(MX80SIG)=1 Then MY80SKP=1 'If the signal specified is turned on
317 GoTo *L80LOP
318 Else 'If the signal check is DISABLE
319 Dly MX80SEC 'Wait at the specified check time
320 MY80SKP=1 'OK
321 EndIf
322 *L80END
323 Return
324 '
325 '##### Turning off the signal is waited for #####
326 'MX81ENA:ENABLE/DISABLE of check(1/0)
327 'MX81SIG:Check signal number
328 'MX81SEC:Check second number(S)
329 'MY81SKP:OK/TIMEOUT(1/0)
330 *S81CWOFF
331 If MX81ENA=1 Then 'If the signal check is ENABLE
332 M_Timer(1)=0
333 MY81SKP=0
334 MX81SEC=MX81SEC * 1000 'Second -> Millisecond
335 *L81LOP
336 If (M_Timer(1)>MX81SEC) Or (MY81SKP<>0) Then *L81END
337 If M_In(MX81SIG)=0 Then MY81SKP=1 'If the signal specified is turned off
338 GoTo *L81LOP
339 Else 'If the signal check is DISABLE
340 Dly MX80SEC 'Wait at the specified check time
341 MY81SKP=1 'OK
342 EndIf
343 *L81END
344 Return
P3HR=(+800.000,+1500.000,+60.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PUP1=(+50.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
PDLY1=(+1.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000,+0.000)(0,0)
21-144 Sample Programs

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English