Mitsubishi MELFA CR1D Instruction Manual page 293

M_Fbd
[Function]
Returns the difference between the command position and the feedback position.
[Format]
Example) <Numeric Variable>=M_Fbd[(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 Def Act 1,M_Fbd>10 GoTo *SUB1,S
2 Act 1=1
3 Torq 3,10
4 Mvs P1
5 End
;
10 *SUB1
11 Mov P_Fbc
12 M_Out(10)=1
13 Hlt
[Explanation]
(1) This function returns the difference between the command position specified by the operation instruction
and the feedback position from the motor. When using the torque instruction, use this in combination
with a Def Act instruction to prevent the occurrences of excessive errors (960, 970, etc.).
(2) This variable only reads the data.
[Reference]
Torq (Torque), P_Fbc
Specifies the numerical variable to assign.
Specify the mechanism number 1 to 3. The default value is 1.
' Generate an interrupt when the difference between the
command position and the feedback position reaches 10
mm or more.
' An interrupt takes effect.
' Set the torque limit of the three axes to 10% or less using
the torque instruction.
' Moves.
' Align the command position with the feedback position.
' Signal No. 10 output
' Stop when a difference occurs.
Detailed explanation of Robot Status Variable 4-280
4MELFA-BASIC IV