Mitsubishi CR750-Q Series Instruction Manual page 105

M_EncL (Latched Encoder data)
[Function]
At the instant of receipt of a TREN signal for Q17EDPX module, a stored encoder data is read.
Also, 0 is written to clear the stored encoder data to zero.
[Format]
Example)<Numeric Variable>=M_EncL[(<logic encoder number>)]
M_EncL[(<logic encoder number>)]=<Constants>
[Terminology]
<Numeric Variable>
Available argument type
Variable
Available -
○：
<logic encoder number> (can be omitted)
Available argument type
Constants
Variable
Available -
○：
<Constants> Specify the stored encoder data to initial value(zero or other).
Available argument type
Constants
Variable
Available -
○：
[Reference Program]
1 MENC1#=M_EncL(1)
2 MENC2#=M_EncL(M1%)
3 TrWrt P1, MEncL(1), MK
4 M_EncL(1)=0
[Explanation]
• Stored encoder value corresponding to the encoder number being specified in <logical encoder number> is
acquired.
Encoder value is stored in memory at a low-to-high or high-to-low transition of TREN signal which has been
specified with a DIP switch on Q17EDPX module.
Encoder value thus acquired is written onto the buffer for tracking by using a TrWr command so as to
perform tracking operations.
Specify the numerical variable to substitute.
Numeric value
Integer Real
Double-precision
number
real number
○ ○
：Not a （syntax error at input time）
vailable
Numeric value
Integer Real
Double-precision
number
real number
○ ○
Rounding Rounding
○ ○
Rounding Rounding
：Not a （syntax error at input time）
vailable
Numeric value
Integer Real
Double-precision
number
real number
○ ○
○ ○
：Not a （syntax error at input time）
vailable
At logic encoder number 1, assign encoder data stored at the time of receipt
of a TREN signal to the variable MENC1#.
At a logic encoder number specified in the variable M1%, assign encoder
data stored at the time of receipt of a TREN signal to the variable MENC2#.
Write work position data P1, encoder value M_EncL(1) present at the time of
receipt of a TREN signal and work category number MK onto the buffer 1 for
tracking.
Use latched data to clear the encoder to zero as it is not required until next
latched data is used.
Position
○ ○
(member data)
Specify the value of an logic encoder number
Position
○
-
○ ○
(member data)
Position
○
-
Error 4220
○ ○
(member data)
MELFA-BASIC V Instructions 19-95
19 Maintenance of robot program
--------referencing
--------writing
Character
Joint
○
Error 4220
(member data)
Character
Joint
-
Error 4220
○
Error 4220
(member data)
Character
Joint
string
-
Error 4220 Error 4220
○
Error 4220
(member data)
string
-
string
-
-
-
-