Mitsubishi Electric CR750 Series, Instruction Manual

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4-394 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
[Supplement]
Table 4-43:Constants and Variables for <Input Signal Number for Programmable Controller ><Shared
Memory Address>
[Reference] Data assurance between CPU modules
New and old data may co-exist (data inconsistency may exist) due to difference between data writing/
receiving timings of host and other CPU modules.
Fig. 4-36 shows how to prevent data inconsistency using the program communication between the
CPU shared memories.
1) Preventing data inconsistency of 32-bit data
Data inconsistency of 32-bit data can be prevented by accessing a CPU shared memory's user setting
area that starts in an even address (for example, address 10002).
Fig.4-36:Preventing data inconsistency of 32-bit data
2) Preventing data inconsistency of data larger than 32 bits
When data is read by a program, the reading starts from the start of the user setting area.
When data is commanded to be written, the writing of the transmitted data starts from the end of the
user setting area to the start of the user setting area.
With these characteristics in mind, provide an interlock device to the head of the transmitted data to
prevent data inconsistency between transmitted data.
Variable types
Constant types Numeric variable types Other variables
Numeric
value
Note1)
Ex.)
12
Note1) The real value is rounded off.
Binary
number
Ex.)
&B1100
Hexadecim
al number
Ex.)&HC
Integer
Ex.)M1%
Long-
precision
integer
Ex.)M1&
Single-
precision
real
number
Note1)
Ex.)M1!
Double-
precision
real
number
Note1)
Ex.)M1#
Position
Note1)
,
Note2)
Ex.)P1.X
Note2) If the value of the variable is an angle, the unit will be processed by the radian. (The elements of A, B
and C of position variable, and all elements of joint variable) Therefore, designation of the signal number is
very difficult. (The display of the monitor etc. is converted into a degree, and the same value as the setting
value is displayed.)
It is processed by value "0", even if it sets "8" as the value of P1.A (The input in the key by T/B etc.) to
specify the input signal No.8. The result is "0" when 8 degree is converted to radian (0.14) and rounded off.
Because the unit of the element X, Y, and Z of the position variable is "mm", there is no such condition.
Joint
Note1)
,
Note2)
Ex.)J1.J1
Character
string
Ex.)C1$
Availability
○ ○ ○ ○ ○ ○ ○ ○ × ×
○ : Available, ×: Unavailable
Device memory CPU shared
memory
G10000
G10001
G10002
G10003
G10004
G10005
Even address