How To Operate Variables; Data List; Sequencer Output Data - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

4Reads/Writes Robot's Variables

4.3 How to Operate Variables

Here, in the sequencer, operates the robot's variables (read/ write variables) by specifying function number,
slot number, variable name, and variable data.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).
* Long-precision integer number and single-precision real number can be used for reading/writing of
numeric value variables since software version R3p.

4.3.1 Data List

(1) output data
Sequencer
1) Word data
Setting values when specifying ASCII character for variable and program names
Sequencer
Addr Item
(offset)
701 (Reserved)
702 Function No
703 Slot No
704
705
Program
706
name
707
(Not used)
708
709
710
711
712
713
Variable
name
714
715
716
717
718
719
720
721
722
723
724
725
726
Variable
727
728
729
730
731
732
733
734
735
736
737
Note1) This number can be used since software version R3p.
4-35How to Operate Variables
Numeric Var
(Integer)
Read Write
101 102
Integer
(Not
(Not
data used)
used)
Setting Value for Specifying ASCII Character
Position Var Joint Var
Read Write Read
(Reserved)
104 105 107
Slot number [0, 1 to the value of parameter TASKMAX]
(Not used)
Variable name [ASCII data, up to 16 characters]
X coor-
dinate
value
Y coor-
dinate
value
Z coor-
dinate
value
A coor-
dinate
value
B coor-
(Not (Not
dinate
value
used) used)
C coor-
dinate
value
L1 coor-
dinate
value
L2 coor-
dinate
value
Struc-
ture flag
Multi-
turn
data
Numeric Var
(Long-precision
Note1)
integer number
Write Read Write
108 111 112
Long-
J1 coor- precision
dinate integer
value number
value
J2 coor-
dinate
value
J3 coor-
dinate
value
J4 coor-
dinate
value
J5 coor-
(Not
dinate
value
used)
J6 coor-
(Not
dinate
used)
value
J7 coor-
dinate
value
J8 coor-
dinate
value
(Not
used)
Numeric Var
(Single-precision real
Note1)
) number )
Read Write
121 122
Single-
precision
real num-
ber value
(Not
used)
(Not
used)