Mitsubishi Electric CR750-Q Instruction Manual page 400

4MELFA-BASIC V
[Reference Program]
1 M_YDev(1)=1
2 M_YDevB(&H10)=&HFF
3 M_YDevW(&H20)=&HFFFF
4 M_YDevD(&H100)=P1.X * 1000
5 M1%=M_YDevW(&H20) And &H7
[Explanation]
(1) Reads/ Writes the value of sequencer output signal (Y).
(2) Both value (Reads/ writes) are the integer values.
(3) Handle the data of the following width about the specified sequencer output signal number.
M_YDev: 1 bit, M_YDevB:8 bit, M_YDevW:16 bit, M_YDevD:32 bit
(4) The sequencer output signal number should be "&H0"- "&HFFF" in hexadecimal expression. Error L3110
(value of the argument outside of the range) will occur, if it is the abbreviation or outside the range.
(5) The following setup is necessary previously.
* Validate the reference of the input signal with Parameter QXYREAD.
* Set up the input output unit which will be managed by robot CPU with Parameter QXYUNITn (n=1 - 4).
(6) The pulse output which combines the Dly command cannot be used. If the Dly command is used, error
L4220 (syntax error) occurs.
(7) If the corresponding sequencer unit is not connected at writing the output signal, the signal will not
change.
If the corresponding sequencer unit is not connected at referring to the output signal, the return value
will be 0.
[Supplementary]
Table 4-39:<Numeric value>
Integer
Bit width
Ex.)M1%
M_YDev
M_YDevB
M_YDevW
M_YDevD
Note1) If the value of the variable is the angle, the unit will be processed by the radian. (The elements of A, B and C of
position variable, and all elements of joint variable) The display of the monitor etc. is converted into the
degree and displayed.
4-380 Detailed explanation of Robot Status Variable
Numeric variables types
Long-preci- Single-pre-
sion integer cision real
number number
Ex.)M1& Ex.)M1!
O O O
O O O
O O O
X O O
' Turns on the sequencer output signal 1
' Turns on the 8-bit width from 10 (hexadecimal number) of
sequencer output signal.
' Turns on the 16-bit width from 20 (hexadecimal number) of
sequencer output signal.
' Outputs the multiplication result value of X coordinate value of
the position variable P1 by 1000 to 32-bit width from 100 (hexa-
decimal number) of sequencer output signals.
' The value of 3-bit width from 20 (hexadecimal number) of
sequencer input signals is substituted to M1.
O: The available, X: unavailable
Other variables
Position
Double-pre-
Note1)
cision real
number
Ex.)M1#
Ex.)P1.X
Ex.)J1.J1
O O
O O
O O
O O
Joint
Charac-
Note1)
ter string
Ex.)C1$
O X
O X
O X
O X