Mitsubishi Electric CR800 Series Instruction Manual page 169

M_TrkChk
[Function]
Refer to the workpiece state read from the tracking buffer when "TrkChk", "TrkWait" command is executed.
[Format]
[Referencing]
<Numeric variable> = M_TrkChk(<Condition number>)
[Terminology]
< Condition number [Integer]>
Specify the condition number corresponding to the tracking.
Setting range: 1 to 8
< Numeric variable [Integer]>
Return the workpiece state read from the tracking buffer when "TrkChk", "TrkWait" command is executed.
0 ： No workpiece in the buffer.
1 ： The specified workpiece passed over.
2 ： Wait for the specified workpiece.
3 ： The specified workpiece can be followed by tracking.
0：No workpiece in
the buffer.
Workpiece movement direction.
Target
Workpiece
[Reference program]
M_TrkBuf(1) = 1
・・・・・
*LBFCHK
TrkChk 1, PSave, PWait, *LTRST ' Check the workpiece of the specified tracking buffer.
If M_TrkChk(1) <= 1 Then GoTo *LBFCHK '0:No Workpiece/ 1: Workpiece passed over->Jump to
[Explanation]
(1) You can confirm the workpiece state read from the tracking buffer when "TrkChk", "TrkWait" command is
executed..
(2) You can omit the step to specify <Condition number>.When it is omitted, condition number will be treated as
"1."
(3) Number which you can enter to specify <Condition number> is an integer in the range of "1" to "8." Entering
2：Wait for the specified
workpiece.
' Tracking buffer corresponding to the condition number 1 uses number 1.
"LBFCHK".
3：The specified
Workpiece can be
followed by tracking.
Tracking
Ending
area
-100mm
Forced ending
Start
-300mm
+400mm
MELFA-BASIC V or MELFA-BASIC VI instruction 15-157
15 Maintenance of robot program
4 ： The specified Workpiece
passed over.
Forced ending
area