Mitsubishi Electric CR750-Q Instruction Manual page 412

4MELFA-BASIC V
P_Safe
[Function]
Returns the safe point (XYZ position of the JSAFE parameter).
[Format]
Example)<Position Variables>=P_Safe [(<Mechanism Number>)]
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
1 P1=P_Safe
[Explanation]
(1) Returns the XYZ position, which has been converted from the joint position registered in parameter
JSAFE.
(2) This variable only reads the data.
P_Tool/P_NTool
[Function]
Returns tool conversion data.
P_Tool: Returns the tool conversion data that is currently being set.
P_NTool: Returns the initial value (0,0,0,0,0,0,0,0)(0,0).
[Format]
Example)<Position Variables>=P_Tool [(<Mechanism Number>)]
Example)<Position Variables>=P_NTool
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
1 P1=P_Tool
[Explanation]
(1) P_Tool returns the tool conversion data set by the Tool instruction or the MEXTL parameter.
(2) Use the Tool instruction when changing tool data.
(3) This variable only reads the data.
4-392 Detailed explanation of Robot Status Variable
Specifies the position variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' P1 will contain the set safe point being set.
Specifies the position variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' P1 will contain the tool conversion data.