Mitsubishi Electric CR750-Q Instruction Manual page 341

J_Fbc/J_AmpFbc
[Function]
J_Fbc: Returns the current position of the joint type that has been generated by encoder feedback.
J_AmpFbc: Returns the current feedback value of each axis
[Format]
Example) <Joint Type Variable>=J_Fbc [(<Mechanism Number>)]
Example) <Joint Type Variable>=J_AmpFbc [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 J1=J_Fbc
2 J1=J_AmpFbc
[Explanation]
(1) J_Fbc returns the present position of the joint type generated by the feedback of the encoder.
(2) J_Fbc can check the difference between the command value to the servo and the delay in the actual
servo.
(3) J_Fbc can also check if there is a difference as a result of executing a Cmp Jnt instruction.
(4) J_AmpFbc is a percentage of the rated current (increment of 0.1% (1000 = 100%)).
(5) This variable only reads the data.
[Reference]
P_Fbc
J_Origin
[Function]
Returns the joint data when the origin has been set.
[Format]
Example) <Joint Type Variable>=J_Origin [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 J1=J_Origin(1)
[Explanation]
(1) Returns the joint data when the origin has been set.
(2) This can be used to check the origin, for instance, when the position of the robot shifted.
(3) This variable only reads the data.
Specify a joint type variable to be assigned.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' J1 will contain the current position of the joint that has been generated by
servo feedback.
' The present current feedback value is entered in J2.
Specify a joint type variable to be assigned.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' J1 will contain the origin setting position of mechanism 1.
Detailed explanation of Robot Status Variable 4-321
4MELFA-BASIC V