Mitsubishi Electric CR750 Series, Инструкция по эксплуатации

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4-372 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
Table 4-36:<Numeric value>
[Reference] Assurance of data sent between CPUs
The old data and the new data may be mixed (data separation) in each CPU due to the timing of receiving
data from the other CPU and reading in the host CPU.
The
Fig. 4-35 shows the method to realize the data consistency of the user data for the data transmission in
the multiple CPU high speed transmission function.
1) Preventing 32-bit data separation
Accessing to the user setting area of the multiple CPU high speed transmission area with placing
the address of even number in front (for example, address 10002) can realize the data consistency
for 32 bit data.
Fig.4-35:Preventing 32-bit data separation
2) Preventing separation for data exceeding 32 bits
Programs are read from the start of user setting area.
With the write instruction, send data are written from the last address to the start address of the user
setting area.
Therefore, data separation can be avoided by creating an interlock device at the start of data to be
communicated.
O: The available, X: unavailable
Bit width
constant types Numeric variables types Other variables
Numeric
value
Note1)
Ex.)12
Note1) The real value is rounded off.
Binary
number
Ex.)&B1100
Hexadeci-
mal number
Ex.)&HC
Integer
Ex.)M1%
Long-pre-
cision inte-
ger
number
Ex.)M1&
Single-pre-
cision real
number
Ex.)M1!
Double-pre-
cision real
number
Ex.)M1#
Position
Ex.)P1.X
Joint
Ex.)J1.J1
Charac-
ter string
Ex.)C1$
M_UDevW O O O O X X X X X X
M_UDevD
O
Note2)
Note2) For the numerical value of the less than 16 bits of the binary number (-32768 to +32767), the specified constant will
handle as a negative numerical value, if the bit 15 (the 16th bit) turns on. Therefore, please be careful of turning on all
of upper 16 bits. (The sign bit is extended)
Example)
Designation of "-32768(&B1000000000000000)" will output the "&B11111111111111111000000000000000."
[Measures]
After substituting the constant for the long-precision integer number variable as follows, when substituting to this
robot status variable M_YDevD, &B00000000000000001000000000000000 (binary number) can be outputted.
1 M1&=32768
2 M_YDevD(&H20)=M1&
O
Note2)
O
Note2)
O
Note2)
O O
O
Note3)
Note3) The ranges of the numerical value which can be outputted are -2147483648 to 2147483647.
O O X
CAUTION
Device memory CPU shared memory
G10000
G10001
G10002
G10003
G10004
G10005
Even address