Mitsubishi Electric CR750-Q Instruction Manual page 408

4MELFA-BASIC V
P_ECord
[Function]
Returns the Ex-T coordinate system origin data currently used during the Ex-T control/Ex-T spline interpola-
tion movement.
[Format]
Example)<Position Variables>=P_ECord [(<Mechanism Number>)]
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
1 P1 = P_ECord
[Explanation]
(1) During Ex-T control/Ex-T spline interpolation, the Ex-T coordinate system origin data most recently used
is returned.
(2) By referring to the P_ECord value with multi-task, the operation process or signal output, etc., can be
executed according to the progress of spline interpolation.
(3) P_ECord returns the value indicated in the following table according to the state.
Table 4-42:Value returned by P_ECord
Immediately after power ON
During Ex-T control/Ex-T spline interpola-
tion execution
After Ex-T control/Ex-T spline interpolation
Immediately after main program's End
command is executed
Immediately after program reset operation
Mechanism not compatible with Ex-T con-
trol/ Ex-T spline interpolation
(4) P_ECord is a read-only status variable.
[Related instructions]
EMvc (E Move C), EMvr (E Move R), EMvr2 (E Move R 2), EMvr3 (E Move R 3), EMvs (E Move S), EMvSpl
(E Move Spline)
4-388 Detailed explanation of Robot Status Variable
Designates the numerical variable substituted for the reference results.
Sets the mechanism No. that executes Ex-T control/Ex-T spline interpolation.
Setting range: 1 to 3
When omitted: 1
If a non-existent mechanism No. is designated, the error L3870 (designated
mechanism No. invalid) will occur when execution is started.
' The Ex-T coordinate system origin data that executes interpolation is substi-
tuted for position variable P1.
Status
(0.0,0.0,0.0,0.0,0.0,0.0)(0,0)
The Ex-T coordinate system origin data used for
interpolation
The Ex-T coordinate system origin data most
recently used
(0.0,0.0,0.0,0.0,0.0,0.0)(0,0)
(0.0,0.0,0.0,0.0,0.0,0.0)(0,0)
(0.0,0.0,0.0,0.0,0.0,0.0)(0,0)
Value returned by P_ECord