Mitsubishi Electric CR750-D Series Instruction Manual page 82

10 Maintenance of robot program
TrkArc (Setting of arc information)
[Function]
Conveyer information for a circular arc tracking is set.
[Format]
TrkArc□<Condition number>, <Encoder number>, <Circular arc position 1>, <Circular arc position 2>,
<Circular arc position 3>
[Terminology]
<Condition number [integer]>
Specify the tracking condition number.
Setting range: 1 to 8
<Encoder number [integer]>
Specify a logic number indicating the external encoderthat performs tracking operation.
Setting range: 1 to 8
<Circular arc position 1 [position]>
Specify tracking area starting position.
<Circular arc position 2 [position]>
Specify tracking area ending position.
<Circular arc position 3 [position]>
Specify tracking cancellation position.
[Reference Program]
1 TrkArc 1, 1, P_107(1), P_108(1), P_109(1) 'Circular arc tracking conveyer information is set
[Explanation]
(1) Conveyer information for a circular arc pursuit is calculated from "position data which were specified with
an argument"(<Circular arc position 1>, <Circular arc position 2>, <Circular arc position 3>) and "encoder
data which were set in robot status variable"(M_EncSensor, M_EncStart, M_EncEnd, M_EncStop).
(2) < Circular arc position 1>< Circular arc position 2>< Circular arc position 3> means < starting position ><
ending position >< cancellation position > of an arc.
(3) Execute TrkArc before beginning a circular arc tracking.
(4) When this command is executed, the amount of robot movement per encoder pulse is set to robot status
variable P_EncDlt.
(5) When this command is executed, the position in which the sensor reacts to workpiece is set to robot status
variable P_TrkSensor.
(6) When this command is executed, the value of "Circular arc tracking(1)"is set to robot status variable
M_TrkType.
(7) Error L.3110 (value of the argument outside of the range) occurs when <Condition number> is outside a set
range.
(8) Error L.3110 (value of the argument outside of the range) occurs when <Encoder number> is outside a set
range.
(9) Error occurs when there is the same position in three specified points or when three points are being on the
straight line.
10-72 MELFA-BASIC V Instructions