Mitsubishi Electric CR750-Q Instruction Manual page 414

4MELFA-BASIC V
[Supplement]
Table 4-43:Constants and Variables for <Input Signal Number for Programmable Controller ><Shared
Memory Address>
Numeric
Variable types
value
12
Ex.)
Availability
○
Note1) The real value is rounded off.
Note2) If the value of the variable is an 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) Therefore, designation of the signal number is
very difficult. (The display of the monitor etc. is converted into a degree, and the same value as the setting
value is displayed.)
It is processed by value "0", even if it sets "8" as the value of P1.A (The input in the key by T/B etc.) to
specify the input signal No.8. The result is "0" when 8 degree is converted to radian (0.14) and rounded off.
Because the unit of the element X, Y, and Z of the position variable is "mm", there is no such condition.
[Reference] Data assurance between CPU modules
New and old data may co-exist (data inconsistency may exist) due to difference between data writing/
receiving timings of host and other CPU modules.
Fig. 4-36 shows how to prevent data inconsistency using the program communication between the
CPU shared memories.
1) Preventing data inconsistency of 32-bit data
Data inconsistency of 32-bit data can be prevented by accessing a CPU shared memory's user setting
area that starts in an even address (for example, address 10002).
Fig.4-36:Preventing data inconsistency of 32-bit data
2) Preventing data inconsistency of data larger than 32 bits
When data is read by a program, the reading starts from the start of the user setting area.
When data is commanded to be written, the writing of the transmitted data starts from the end of the
user setting area to the start of the user setting area.
With these characteristics in mind, provide an interlock device to the head of the transmitted data to
prevent data inconsistency between transmitted data.
4-394 Detailed explanation of Robot Status Variable
Constant types
Binary
Hexadecim
number
Note1)
al number
Ex.)
Ex.)&HC
&B1100
○ ○
Device memory
Numeric variable types
Single-
precision
Long-
Integer precision real
Ex.)M1% integer number
Ex.)M1& Note1)
Ex.)M1!
○ ○
CPU shared
memory
Double-
Position
precision
Note1)
real ,
number Note2)
Note1)
Ex.)P1.X
Ex.)M1#
○ ○ ○
○ : Available, ×: Unavailable
G10000
G10001
G10002 Even address
G10003
G10004
G10005
Other variables
Joint
Character
Note1)
,
string
Note2)
Ex.)C1$
Ex.)J1.J1
× ×