How To Use The Gps Function - Mitsubishi Electric CR750-Q Instruction Manual

7.6.5 How to use the GPS function

(1) Position data acquisition at the sensor input timing
This section shows the basic method to create programs using the MELFA BASIC V programming language
for position data acquisition according to the signal input timing.
Table 7-29: Command list of MELFA BASIC V
Command
Def Gps
GpsChk
Table 7-30: Status variables list
Variable name
M_Gps(n)
(n:target monitoring num-
ber from 1 to 8)
P_Gps1(x) to
P_Gps8(x)
1) Definition of the monitoring condition
First, define a condition (an input signal number, a signal condition, and a mechanism number) for the
position data acquisition according to an external signal input timing in the Def Gps command. Up to
eight different conditions can be set. Each setting of condition is controlled by the monitoring number.
2) Starting the monitoring
When the GpsChk On command ("GpsChk On,n" statement) is executed, start monitoring for the tar-
get monitoring number which is defined in the Def Gps command, and store the robot position data at
the point of time when the condition holds. Up to 400 position data can be obtained for one monitoring
number.
("n" in "GpsChk On,n" statement indicates the target monitoring number from 1 to 8.)
3) Stopping the monitoring
When the GpsChk Off command ("GpsChk Off,n" statement) is executed, stop monitoring for the tar-
get monitoring number, and store the robot position data in the status variable P_GpsX(). ("X" indi-
cates the same number as the target monitoring number from 1 to 8.) Up to 400 position data can be
stored for one monitoring number. (A numerical value in the array elements is numbered in turn every
time the position data is obtained.)
The number of position data stored in the P_GpsX() is retained in the status variable M_Gps(n). The
position data stored in the M_Gps(n) and P_GpsX() is cleared to zero when the GpsChk On command
("GpsChk On,n" statement) is executed next time.
("n" in "GpsChk Off,n" statement and the status variable M_Gps(n) indicates the target monitoring
number from 1 to 8.)
This command defines a condition for the position data acquisition using the GPS function.
This command starts/stops monitoring the set condition.
No. of array elements
1 to 8 (target monitoring
number)
400 (data)
[Targetonit moring numbern (n: 1 to 8)]
・ Input signal number
Set the target external input signal number.
・ Signal condition
Set a condition of timing (the rising/falling edge of the input
signal) for the position data acquisition.
・ Mechanism number
Set the target mechanism number for the position data acqui-
sition.
Explanation
The number of the position data recorded in the status variable
P_GpsX() is stored. ("X" indicates the same number as the target moni-
toring number from 1 to 8.)
Up to 400 of the robot position data at the point in time when the condi-
tion defined in the Def Gps command holds is stored.
Get-position-quick function Appendix-705
Details
7Appendix