Mitsubishi Electric CR750 Series Instruction Manual page 119

12.
Appendix
This appendix provides a list of parameters related to tracking and describes Expansion serial interface
connector pin assignment as well as sample programs for conveyer tracking and vision tracking.
12.1.
List of Parameters Related to Tracking
Parameter
Parameter
name
Encoder TRKENC*
information for (*=1 to 8)
trackings
Tracking
TRBUF
buffer
Minimum ENCRGMN
external
encoder value
Maximum ENCRGMX
external
encoder value
List of Parameters Related to Tracking
Table 12-1
Number of
elements
4 Stocks the encoder value of the state variable
Long-precision "M_EncSensor" "M_EncStart" "M_EncEnd"
"M_EncStop".
real numbers
Encoder data at the position in which the
1st:
sensor reacts to workpiece
Encoder data at tracking area starting
2nd:
position
Encoder data at tracking area ending
3rd:
position
Encoder data at tracking cancellation
4th:
position
2 integers Number of tracking buffers and their sizes
(KB)
<Buffer number>
Specify the number of buffers where the
tracking data is stored.
Mainly the tracking data for each conveyors is
saved at the buffer. Change the set value,
when the conveyor for tracking is increased.
However, if the value is enlarged, the memory
area where the tracking data is saved will be
secured. Be careful because the program
number which can be saved decreases.
Setting range: 1 to 8
<Buffer size>
Specify the size in which the tracking data is
preserved.
Change this element when there is larger
tracking data saved by TrWrt command than
reading by TrRd command.
Be careful because the memory is secured
like the above-mentioned [Buffer number].
Setting range: 1 to 200
8 integers The minimum external encoder data value
(pulse)
The range of the encoder value which can be
acquired in state variable "M_Enc"
(minimum value side)
8 integers The maximum external encoder data value
(pulse)
The range of the encoder value which can be
acquired in state variable "M_Enc"
(maximum value side)
Description
(M_EncSensor)
(M_EncStart)
(M_EncEnd)
(M_EncStop)
List of Parameters Related to Tracking 12-109
12 Appendix
Setting
value at
factory
shipment
0, 0, 0, 0
2 , 64
0,0,0,0,0,0,0,0
1000000000,
1000000000,
1000000000,
1000000000,
1000000000,
1000000000,
1000000000,
1000000000