Mitsubishi Electric CR750-Q Instruction Manual page 178

4MELFA-BASIC V
Variable
No
name
69 J_Origin
70 M_Open
71 C_Mecha
72 C_Maker
73 C_User
74 C_Date
75 C_Time
76 M_BTime
77 M_Timer
78 P_Zero
79 M_PI
80 M_Exp
81 M_G
82 M_On
83 M_Off
84 M_Mode
85 M_SplPno
86 M_SplVar
87 P_WkCord
88 M_ESpd
89 P_ECord
90 M_Gps
4-158 Robot status variables
Array designation
Note1)
Mechanism No.(1 to 3) Returns the joint coordinate data when setting the
origin.
File No.(1 to 8) Returns the open status of the specified file
or the communication line.
Mechanism No.(1 to 3) Returns the type name of the robot.
None Shows manufacturer information (a string of up to
64 characters).
None Returns the content of the parameter
"USERMSG."(a string of up to 64 characters).
None Current date expressed as "year/month/date".
None Current time expressed as "time/minute/second".
None Returns the remaining battery capacity time
(hours).
Timer No. (1 to 8) Constantly counting. Value can be set. [ms]
It is possible to measure the precise execution
time by using this variable in a program.
None A variable whose position coordinate values (X, Y,
Z, A, B, C, FL1, FL2) are all 0
None Circumference rate (3.1415...)
None Base of natural logarithm (2.71828...)
None Specific gravity constant (9.80665)
None 1 is always set
None 0 is always set
None Contains the status of the key switch of the
operation panel
MANUAL/AUTOMATIC (O/P)/AUTOMATIC
(External)=(1/2/3)
Mechanism No.(1 to 3) During the spline interpolation movement, the
transit point No. passed through most recently is
returned.
Mechanism No.(1 to 3) During the spline interpolation movement, a
random numeric value set for the transit point is
returned. The random value can be held until the
value is set again.
Work coordinates No. By designating a work coordinates number, work
(1 to 8) coordinates values concerned are read, or work
coordinate values are specified.
Mechanism No.(1 to 3) During the Ex-T control/Ex-T spline interpolation
movement, the transit speed at current Ex-T
coordinate system is returned.
Mechanism No.(1 to 3) During the Ex-T control/Ex-T spline interpolation
movement, the Ex-T coordinate system origin data
currently used is returned.
Monitoring No. (1 to 8) Returns the number of the position data stored in
the P_GpsX() for the monitoring number defined in
the Def Gps command, using the get-position-
quick function (GPS function). ("X" indicates the
same number as the target monitoring number
from 1 to 8.)
Details
Attribute
Data type, Unit
Note2)
R Joint type
R Integer type
R Character string
type
R Character string
type
R Character string
type
R Character string
type
R Character string
type
R Integer type, Time
RW Single-precision
real number type
R Position type
R Double-precision
real number type
R Double-precision
real number type
R Double-precision
real number type
R Integer type
R Integer type
R Integer type
R Integer type
RW Integer type
RW Position type
R Single-precision
real number
type,mm/s
R Position type
R Integer type
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