Mitsubishi Electric CR750-Q Instruction Manual page 358

4MELFA-BASIC V
M_Gps
[Function]
This command 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.)
[Format]
Example) <Numeric Variable>=M_Gps[(<Numeric>)]
[Terminology]
<Numeric Variable>
<Numeric>
[Reference Program]
1 Def Gps1,851,1
2 GpsChk On,1
3 Mvs P1
4 GpsChk Off,1
5 M1=M_Gps(1)
6 If M1=0 Then Error 9000
[Explanation]
(1) The current position data of the robot is stored in the P_GpsX() when the condition defined in the Def
Gps command is met. The number of position data stored in the P_GpsX() is stored in this status vari-
able.
(2) The number of times when the condition defined in the Def Gps command is met can be confirmed.
(3) The value is cleared to zero when the GpsChk On command is executed.
(4) The number of times can be confirmed after the GpsChk Off command is executed.
(5) This variable only reads the data.
(6) The number of times is cleared to zero when the controller is turned on. (This command is not covered
by the continue function.)
[Related instructions]
Def Gps (Define get
4-338 Detailed explanation of Robot Status Variable
Specifies the numerical variable to assign.
The number of the current position data stored in the status variable P_GpsX()
corresponding to the monitoring number set in <Numeric value> is returned.
The default value is set to 0. The value is cleared to zero when the GpsChk On
command is executed.
Set the monitoring number from 1 to 8 defined in the Def Gps command.
If the argument is omitted, 1 is set as the default value.
' The position data of the mechanism No. 1 is recorded for the monitor-
ing No. 1 when the signal No. 851 is turned on.
' Monitoring a condition for the monitoring No. 1 is started.
' Moves to P1
' Monitoring a condition for the monitoring No. 1 is stopped.
' The number of the position data recorded in the P_Gps1 is stored.
' The error 9000 is generated if no position data is recorded.
position), Def Map (Define mapping), GpsChk (Get position check)