Explanation Of Each Robot Status Variable - Mitsubishi Electric CR800 Series Instruction Manual

(4) Explanation of Each Robot Status Variable

Each Status Variable is explained below.
M_EHPos1/M_EHPos2/M_EHPos3
[Function]
Reference or setting to the point data of electric hand.
[Format]
<Numerical variable>=M_EHPos1(<Point No>)
M_EHPos1(<Point No>)=<Numeric value>
[Terminology]
<Hand No> ............. ..... Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the
<Numerical variable>.... Specify the numerical variable which substitutes point data.
<Numeric value> .... ..... Specify point data. Specify with the constant or the numeric variable.
[Reference Program]
1 MPos=M_EHCur
2 MPos=MPos+0.5
3 M_EHPos1(5)=MPos
4 EHMov 1, 5, 100
5 Wait M_EHInPs=1
[Explanation]
1) Specify the point number, and set up or refer to the point data (The parameters EHnPOS1 to EHnPOS32,
n: Hand number) of the electric hand.
'Setting of point data
numeric variable.
(notes: The real number is rounded off.)
Range of values: -9999.99 to 9999.99mm
Specify per 0.01mm.
Range of values: -9999.99 to 9999.99mm (notes: The value below 0.01mm is rounded
off.)
'Substitute the current position of the hand.
'Add 0.5mm to the current position.
'Set as the point5.
'Move the hand1 to the point5. (point No. = 5, speed = 100%).
'Confirm arrival.
5Using the Electric Hand (Programming)
'Reference of point data
Operating Procedure 5-45