Mitsubishi Electric CR750-D Series Instruction Manual page 102

10 Maintenance of robot program
P_TrkBase
[Function]
Specify and refer to the origin (For example, the position which a vision sensor outputs) of the workpiece to be
followed.
Specify the position data (For example, the position which a vision sensor outputs) used as the reference
point when you teach the movement path on the workpiece, as described below
The robot moves to the relative position correspond to this reference point by the movement instruction during
the tracking.
[Vision recognition position]
Field of vision
Vision
Workpiece
recognition point
[Robot operation]
While following...
For example, when you only absorb the workpiece (do not operate along the external form of the workpiece),
you may appoint the position specified when you teach the position which absorb the workpiece (for example,
"PTeach")as "P_TrkBase",and appoint the above "PTeach" as movement instruction that moves during "TrkOn
～TrkMv Off"(Mov PTeach).
[Format]
[Writing]
P_TrkBase(<Condition number>) = <Position data>
[Referencing]
<Position variable> = P_TrkBase(<Condition number>)
10-92 MELFA-BASIC V Instructions
[Teaching position]
P1
P0
P2
Teach three position P0,P1,P2
[Structure]
Regard the position outputted by vision as
P0 by "P_TrkBase(1)=P", "TrkBase P0"
Follow "Mvs P1", "Mvs P2" as the reference
position from P0.
If the workpiece
Declines, P0
Inclines too, and
P1,P2 declines
correspond to P0.
[Robot program]
P_TrkBase(1)=P0
・・・・・・
Mvs P1
Mvs P2
Mvs P0
TrkMv Off