Mitsubishi CR750-Q Series - List of Functions; Explanation of Tracking Operation Instructions

19 Maintenance of robot program
19.1.3. List of Functions
Table 19
−3 List of Functions
Function name
Function
Result
Poscq(<position>)
Check whether the specified position is within the movement
range.
1: Within the movement range
0: Outside the movement range
Integer
TrWcur(<encoder number>,
<posit
ion>,<encoder value>)
Obtain the current position of a workpiece.
<number of encoders>
1 to 8
Position
TrPos(<position>)
Acquire the coordinate position of a workpiece being tracked.
Trk On P0,P1,1,M1#
PC2=TrPos(P2)
PC2 above is obtained in the following manner.
PC1=P1+P_EncDlt*(M_Enc-M1#) ‘ The current position of P1
PC2=PC1*(P_Zero/P0*P2)
Position
19.1.4. Explanation of Tracking Operation Instructions
The instructions related to tracking operations are explained in details below.
The explanations of instructions are given using the following format.
[Function] : Describes the function of an instruction.
[Format] : Describes the entry method of arguments of an instruction.
< > indicate an argument.
[ ] indicates that entry can be omitted.
 indicate that space is required.
[Term] : Describes meaning, range and so on of an argument.
[Example] : Presents statement examples.
[Explanation] : Provides detailed function descriptions and precautions.
19-88 MELFA-BASIC V Instructions