Mitsubishi CR750-Q Series User Manual

19 Maintenance of robot program
19. Maintenance of robot program
This chapter explains information required when maintaining the sample programs (robot program language
MELFA-BASIC V and dedicated input/output signals).
19.1. MELFA-BASIC V Instructions
The lists of instructions, status variables and functions related to tracking operation are shown below.
Please refer to the separate manual “Detailed Explanations of Functions and Operations” for further
information about MELFA-BASIC V.
19.1.1. List of Instructions
Table 19−1 List of Instructions
Instruction name
Function
TrBase
Specify the workpiece coordinate origin of teaching data and tracking external encoder
logic number.
TrClr
Clear the tracking data buffer.
Trk
Declare start and end of the tracking mode.
TrOut
Output signals from a general-purpose output and read the encoder values.
TrRd
Read workpiece data from the tracking data buffer.
TrWrt
Write workpiece data in the tracking data buffer.
19.1.2. List of Robot Status Variables
Table 19−2 List of Robot Status Variables
Variable
name
Number of arrays Function
Attribute
(*1)
Data type
M_Enc
number of
encoders
1 to 8
External encoder data
External encoder data can be rewritten.
If this state variable does not set parameter
“TRMODE" to “1", the value becomes like “0".
R/W
Double-precisio
n real number
M_EncL
Number of
encoder
１
to
８
The stored encoder data
※
Possible to use from R1 and S1
※
0 always returns in S1.
R/W
Double-precisio
n real number
P_EncDlt
number of
encoders
1 to 8
Amount of robot movement per encoder pulse
*This state variable is made by sample “A1”
program.
R/W
Position
M_Trbfct
buffer No.
1 to The first
argument of
parameter
[TRBUF]
Number of data items stored in the tracking buffer
R
Integer
P_Cvspd
number of
encoders
1 to 8
Conveyer speed (mm, rad/sec)
R
Position
M_EncMax
number of
encoders
1 to 8
The maximum value of external encoder data
R
Double-precisio
n real number
M_EncMin
number of
encoders
1 to 8
The minimum value of external encoder data
R
Double-precisio
n real number
M_EncSpd
number of
encoders
1 to 8
External encoder speed(Unit: pulse/sec)
R
Single-precision
real number
M_TrkCQ
mechanism No.
1 to 3
Tracking operation status of specified mechanism
1: Tracking
0: Not tracking
R
Integer
(*1)R: Only reading is permitted. R/W: Both reading and writing are permitted.
MELFA-BASIC V Instructions 19-87

Mitsubishi CR750-Q Series Specifications

General

Brand	Mitsubishi
Model	CR750-Q Series
Category	Robotics
Language	English