Mitsubishi Electric CR800 Series, Инструкция по эксплуатации

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15 Maintenance of robot program
MELFA-BASIC V or MELFA-BASIC VI instruction 15-117
15.1.2.
List of Robot Status Variables
Table 15-2 List of robot status variables
Variable name
Number of
arrays
Function
Attribute
(*1)
Data type
M_Enc
number of
encoders
1 to 8
External encoder data
External encoder data can be rewritten.
If this state variable does not set
parameter “TRMODE" to “1", the value
becomes “0".
R/W Double-precision
real number
M_EncL number of
encoders
1 to 8
The [Latched encoder data] of the encoder
value of the specified encoder value.
*0 always returns in D type or R type.
R/W Double-precision
real number
P_EncDlt number of
encoders
1 to 8
Amount of robot movement per encoder
pulse
R/W Position
P_TrkSensor Condition
Number
1 to 8.
The location of the workpiece when a
sensor reacted
R Position
M_EncSensor Condition
Number
1 to 8.
The encoder data at the position in which
the sensor reacts to workpiece . Possible
to change the value to adjust it.
R/W Long-precision
real number
M_EncStart Condition
Number
1 to 8.
The encoder data at start position of
Tracking starting possible area
*It's changed by a program "A1"
automatically. Don't change this
variable manually. When it's changed,
arc information becomes abnormal.
R/W Long-precision
real number
M_EncEnd
Condition
Number
1 to 8.
The encoder value in the end position of
Tracking starting possible area
R/W Long-precision
real number
M_EncStop Condition
Number
1 to 8.
The encoder value in the location where a
tracking is ended compulsorily
*It's changed by a program "A1"
automatically. Don't change this
variable manually. When it's changed,
arc information becomes abnormal.
R/W Long-precision
real number
P_TrkPAcl Condition
Number
1 to 8.
Parameter [TRP ACL] value R/W Position
P_TrkPDcl Condition
Number
1 to 8.
Parameter [TRPDCL] value R/W Position
M_TrkBuf Condition
Number
1 to 8.
Buffer Number R/W Integer
M_TrkStart Condition
Number
1 to 8.
Tracking Starting Distance R/W Single-precision
real number
M_TrkEnd Condition
Number
1 to 8.
Tracking Ending Distance R/W Single-precision
real number
M_TrkStop Condition
Number
1 to 8.
Tracking Forced Ending Distance R/W Single-precision
real number
M_TrkTime Condition
Number
1 to 8.
Timeout period of TrkWait command R/W Single-precision
real number
P_TrkBase Condition
Number
1 to 8.
Tracking Base coordinates R/W Position