19 Maintenance of robot program
19.1.3. List of Functions
Table 19
−3 List of Functions
Check whether the specified position is within the movement
range.
1: Within the movement range
0: Outside the movement range
TrWcur(<encoder number>,
<posit
ion>,<encoder value>)
Obtain the current position of a workpiece.
<number of encoders>
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
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