Mitsubishi Electric CR800 Series Instruction Manual page 164

15 Maintenance of robot program
M_TrkStop
[Function]
Specify and refer to forced ending position of range in which it is possible to execute the tracking..
In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate system
(the coordinate value "0.00").
In case of the circular arc tracking, designate the correction amount from the tracking starting possible area.
[Format]
[Writing]
M_TrkStop(<Condition number>) = <Value>
[Referencing]
<Numeric variable> = M_TrkStop(<Condition number>)
[Terminology]
< Condition Number [Integer]>
Specify the condition number corresponding to tracking.
Setting range: 1 to 8
<Value [Single-precision real number]>
Specify the forced ending position(mm) of range in which it is possible to execute the tracking..
In case of the high speed tracking, designate a coordinate from a reference mark in world coordinate
system (the coordinate value "0.00").
In case of the circular arc tracking, designate the correction amount from the tracking starting possible area.
Setting range: 0.00 to （Robot operation range）
Unit: mm
< Numeric Variable [Single-precision real number]>
Return forced ending position of range in which it is possible to execute the tracking..
[Reference program]
M_TrkBuf(1) = 1
M_TrkStart(1) = 30
M_TrkEnd(1) = -10
M_TrkStop(1) = -20
・・・・・
TrkChk 1, P1, PWAIT, *LTRST ' Check the work of the specified tracking buffer
[Explanation]
(1) Specify the forced ending position of range in which it is possible to execute the tracking used in tracking
command "TrkChk""TrkWait".
(2) You can confirm the specified forced ending position of range in which it is possible to execute the tracking
by referencing "M_TrkStop".
(3) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(4) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
anything else causes L3110 (Argument value range over) error to occur.
15-152 MELFA-BASIC V or MELFA-BASIC VI instruction
' Tracking buffer corresponding to the condition number 1 uses number 1.
' Starting position of range in which it is possible to execute the tracking
corresponding to condition number 1 is 30mm.
' End position of range in which it is possible to execute the tracking
corresponding to condition number 1 is -10mm.
' Forced ending position of range in which it is possible to execute the tracking
corresponding to condition number 1 is -20mm.