Mitsubishi MELFA CR1D - Example of Using Multitask; Robot Work Details

4MELFA-BASIC IV
Multitask function
4-122
4.2.6 Example of using multitask
An example of the multitask execution is given in this section.
(1) Robot work details.
The robot programs are the "movement program" and "position data lead-in program".
The "movement program" is executed with slot 1, and the "position data lead-in program" is executed with
slot 2. If a start command is output to the sensor while the robot is moving, a request for data will be made to
the personal computer via the position data lead-in program. The personal computer sends the position data
to the robot based on the data request. The robot side leads in the compensation data via the position data
lead-in program.
<Process flow>
P1: Workpiece pickup position (Vacuum timer Dly 0.05)
P2: Workpiece placing position (Release timer Dly 0.05)
P3: Vision pre-position (Do not stop at penetration point Cnt)
P4: Vision shutter position (Do not stop at penetration point Cnt)
P_01: Vision compensation data
P20: Position obtained by adding P2 to vision compensation data (relative operation)
Workpiece pickup
Sensor start
Sensor recognition
Workpiece mounting
Operation program
Position data lead
-in program
Data confirmation
Start
Sensor start
Personal computer
Position data
setting
Data reception
Background execution
P1
P4
P2
P20
RS-
232C
StartStart
Data reception
Data reception
Position data
transmission
Above mounting
position
<Slot1> <Slot2> <Sensor>
P1
X
Y
0
P2
P3 :No acceleration/deceleration
P4 : No acceleration/deceleration
Position to move vision