Mitsubishi Electric CR800 Series Instruction Manual page 61

M_EHOPos
[Function]
The movement completion point number of the Multifunctional Electric Hand is returned.
[Format]
<Numerical variable>=M_EHOPos [(<Hand No.>)]
[Terminology]
<Numerical variable>.... The variable for which the movement completion point number (1-32) is substituted
[Reference Program]
M1=MEHOPos(1)
If M_EHOPos(2)=2 Then *L01
[Explanation]
1) The hand number is designated and the movement completion point number of Multifunctional Electric
Hand is returned.
2) It will be 0 at the time of order execution starting of EHOrg/EHOpen/EHClose/EHMov/EHHold.
3) The point number is output in M_EHInPs=1 after completion of operation of EHMov.
4) The point number is output by M_EHHold=M_EHZone=1 or M_EHInPs=1 after completion of opera-
tion of EHHold.
5) output after completion of operation at hold effective area outside in EHHold is a condition of 0. When
hold movement was performed in the state from which a held product has been taken, and it was
M_EHInPs=1, output is a condition of 0.
6) After EHMov/EHHold command was executed, when an error occurs or operation is interrupted during
movement, the output is still 0.
7) When a target hand is not connected, it will be 0.
is designated.
' The completion point number of hand 1 is substituted for
' When the completion point number of hand 2 is 2, I jump
5Using the Electric Hand (Programming)
M1.
to *L01.
Operating Procedure 5-49