Reads/Writes Robot's Variables; Function Description; Operation Flow - Mitsubishi Electric CR800-D Series Instruction Manual

4 Reads/Writes Robot's Variables

4.1 Function Description

(1) Function list
The table below lists the variable operations performed from the GOT:
Table 4-1:Variable operation function list
No Item
1 Read numeric variable
2 Write numeric variable
3 Read position variable
4 Write position variable
5 Read joint variable
6 Write joint variable
(2) Functional requirements
Always available when a program is selected for robot's target slot and the target variable exists.
When the target is external variable, the variable operation is possible by specifying zero for a slot number,
even when a program is not selected.
CAUTION

4.2 Operation Flow

Prepare for Using Extended Function
Carry out variable operation (read/ write)
Reads variable content by specifying slot number and variable name.
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
Reads variable content by specifying slot number and variable name.
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
Reads variable content by specifying slot number and variable name.
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
Be careful fully to change variable value.
The robot's location and behavior may be changed by changing the variable value,
thereby interfering with surrounding devices. Because it is especially dangerous
when the robot is in operation, sufficiently check the value to be changed.
Start
Description
...
Refer to Page 5, "2 Preparation for Using Extended
...
Refer to Page 23, "4.3 How to Operate
4Reads/Writes Robot's Variables
Robot's
response time
Answered within
1sec (it may vary
according to the
robot control's
load state)
Function".
Variables".
Function Description 4-22