Mitsubishi Electric CR800 Series, Instruction Manual

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-139
M_Enc (Encoder value)
[Function]
Read the encoder value of the designated logic encoder number. It can be changed to the optional value.
[Format]
[Write]
M_Enc(<logic encoder number>)
＝
<Fixed value>
[Read]
<Numeric value>
＝
M_Enc(<logic encoder number>)
[Terminology]
< logic encoder number [integer] >
：
(can be omitted.)
Specify the logic encoder number which acquires the encoder value.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value.
< Fixed value [double-precision real number] >
Specify the numerical value.
< Numeric value [double-precision real number] >
Specify the numeric variable in which the value.
[Reference program]
MENC1#=M_Enc(1) ' Stocks the logic encoder number encoder of 1 value in MENC1#
variable.
MENC2#=M_Enc(M1%) 'Stocks the encoder value of the logic encoder number designated by
M1% variable in MENC2# variable.
TrWrt P1, M_Enc(1), MK ' This variable writes in buffer 1 that the location of the workpiece which
was kind number MK is P1 at the present encoder value M_Enc (1).
M_Enc(1)=0 ' Changes the encoder value of the logic encoder No.1 to "0".
[Explanation]
(1) Acquire the encoder value of the designated <logic encoder number>.
The acquired encoder value is written in a tracking buffer using a TrWrt command to tracking movement.
(2) The encoder value is the double-precision real number value, so please specify a variable of
double-precision real number type as<Numeric value>.
(3) It's possible to change the encoder value of the number specified as<logic encod er number> to the value
specified as<Fixed value>.
(4) You can omit the step to specify <logic encoder number>.When it is omitted, logic encoder number will be
treated as "1."
(5) Error L.3110 (value of the argument outside of the range) occurs when <Condition num ber> is outside a
set range.
*When inputting the numerical value including the decimal point, its value is rounded up.