Creatinn Of Robot Program - Mitsubishi Electric MELFA CR800-D Series User Manual

6.2.6 Creatinn of robot program

In this chapter, robot program language MELFA-BASIC VI which is used in this function is explained.
6.2.6.1. The list of robot status variable.
The list of robot status variable related to this function is below.
Number
Variable name
of array
M_BsCoopMd -
P_BsCdCurr -
(*1) R: Only read is possible.
6.2.6.2. Detail explanation of robot(system) status variable
Detail of status variable of this function is below.
The meanings of the items used to explain the status variables are as follows.
【Function】
【Format】
【Terminology】
【Reference program】
【Explanation】
Table 6-7 The list of robot status variable
Enable the base coordinate cooperative control by spline
interpolation.
Get the current base coordinate.
R/W: Read and write is possible.
：This indicates a function of a variable.
：This indicates how to enter arguments of valiable.
[ ] means that arguments can be omitted. System status variables can be
used in conditional expressions, as well as reference and assignment
statements. In the format example, only reference and assignment
statements are given to make the description simple.
：This indicates the meaning and range of an argument.
：An example program using variables is shown.
：This indicates detailed functions and precautions.
6 Coordinated control for additional axes
Function
Base coordinate cooperative control 6-93
Attribute
Data type
(*1)
R/W Integer
R Position