Mitsubishi Electric CR800 Series Instruction Manual page 141

TrkTrg(Vision sensor trigger)
[Function]
Request the specified vision sensor to capture an image, and acquires encoder value after the SKIP input
receives the signal from the vision sensor.
[Format]
TrkTrg □ #<Vision sensor number>, <SKIP input number>, <Encoder 1 value read-out variable> [,
[<Encoder 2 value read-out variable >], [<Encoder 3 value read-out variable >],
[<Encoder 4 value read-out variable >], [<Encoder 5 value read-out variable >],
[<Encoder 6 value read-out variable >], [<Encoder 7 value read-out variable >],
[<Encoder 8 value read-out variable >]]
[Terminology]
<Vision sensor number>
Specify the number of the vision sensor to control.
Setting range：1-8
<SKIP input number>
Specify the number of the SKIP input to control.
Setting range：2-4
<Encoder n value read-out variable>:( Can be omitted from the second one on)
Specifies the double precision numeric variable into which the read out external encoder n value is set.
Note： n is 1-8
[Reference program]
If M_NVOpen(1)<>1 Then
NVOpen "COM2:" AS #1
EndIf
Wait M_NVOpen(1) = 1
be completed.
NVRun #1, "TEST"
TrkTrg #1, 2, M1#, M2#
encoders 1 and 2 after the SKIP input receives the signal.
EBRead #1,,MNUM,PVS1,PVS2
variable MNUM, PVS1 and PVS2.
・・・・・・
・・・・・・
NVClose #1
[Explanation]
(1) Outputs the image capture request to the specified vision sensor and acquires the encoder value after the
SKIP input receives the signal.
(2) The <SKIP input number> specify the number of the SKIP input connected.
(3) The acquired encoder value is stored in the specified numeric variable.
(4) This command moves to the next step after it has received the signal of the image processing completion
from the vision sensor.
(5) If the program is cancelled while this command is being executed, it stops immediately.
(6) For receiving data from the vision sensor, use the EBRead command.
(7) When this command is used with multi-tasking, it is necessary to execute the NVOpen command in the
task using this command. Also, use the <Vision sensor number> specified with the NVOpen command.
(8) A program start condition of "Always" and the continue function are not supported.
(9) Up to three robots can control the same vision sensor at the same time, but this command can not be used
by more than one robot at the same time. Use this command on any one of the robots.
(10) If an interrupt condition is established while this command is being executed, the interrupt processing is
executed immediately.
(11) If data type for an argument is incorrect, L.4220 (Syntax error) error occurs.
(12) If there is an abnormal number of command arguments (too many or too few), L.3120 (Illegal argument
'If vision sensor number 1 logon is not complete.
'Connects with the vision sensor connected to COM2.
'Connects with vision sensor number 1 and waits for logon to
'Starts the "TEST" program.
'Requests the vision sensor to capture an image and acquires
'The data of "Job.Robot.FormatString" is stored in the read-out
'Cuts the line with the vision sensor connected to COM2.
MELFA-BASIC V or MELFA-BASIC VI instruction 15-129
15 Maintenance of robot program