Mitsubishi Electric CR750-Q Instruction Manual page 367

M_Line
[Function]
Returns the line number that is being executed.
[Format]
Example)<Numeric Variable>=M_Line [(<Equation>)]
[Terminology]
<Numeric Variable>
<Equation>
[Reference Program]
1 M1=M_Line(2)
[Explanation]
(1) This can be used to monitor the line being executed by other tasks during multitask operation.
(2) This variable only reads the data.
M_Map1 to M_Map8
[Function]
This command returns the segment number in which a workpiece is present in the condition defined in the
Def Map command, using the get-position-quick function (GPS function).
The information of the workpiece presence recognition obtained by the execution of the mapping (the
recording of the workpiece presence in a segment to which a sensor attached on the hand reacts by sliding
the hand vertically at the front of a cassette) can be checked.
[Format]
Example) <Numeric Variable>=M_Map1[(<Numeric value>)]
[Terminology]
<Numeric Variable>
<Numeric value>
[Reference Program]
1 Def Map 3,851,On,1,PC1,PC2,20,10
2 Mov PM1
Specifies the numerical variable to assign.
1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
' M1 will contain the line number being executed by slot 2.
Specifies the numerical variable to assign.
The information of the workpiece presence recognition in the segment set in
<Numeric value> is returned to the position variable.
The default value is set to 0. "1" is stored for the segment in which the workpiece
is present.
The value is cleared to zero when the GpsChk On command is executed.
Set the segment number to check for the workpiece presence in a cassette.
The lowest segment in a cassette is defined as the first segment.
Setting range: 1 to 130 (segments)
(A setting value of 0 or a negative value is regarded as 1.)
' The position data of the mechanism No. 1 is recorded for the monitor-
ing No. 3 when the signal No. 851 is turned on, and the mapping is
executed according to the defined condition.
PC1: Lowest position (first segment) in a cassette, PC2: Highest posi-
tion (last segment) in a cassette, 20: the number of segments in a cas-
sette (20 segments), 10: a sensitive area of a sensor (10 mm)
' The robot moves its arm to the mapping start position.
Detailed explanation of Robot Status Variable 4-347
4MELFA-BASIC V