List Of Robot Status Variables - Mitsubishi Electric CR800 Series Instruction Manual

List of Robot Status Variables

15.1.2.
Number of
Variable name
arrays
number of
M_Enc
encoders
1 to 8
number of
M_EncL
encoders
1 to 8
P_EncDlt number of
encoders
1 to 8
Condition
P_TrkSensor
Number
1 to 8.
Condition
M_EncSensor
Number
1 to 8.
Condition
M_EncStart
Number
1 to 8.
Condition
M_EncEnd
Number
1 to 8.
M_EncStop Condition
Number
1 to 8.
P_TrkPAcl Condition
Number
1 to 8.
P_TrkPDcl Condition
Number
1 to 8.
M_TrkBuf Condition
Number
1 to 8.
M_TrkStart Condition
Number
1 to 8.
M_TrkEnd Condition
Number
1 to 8.
M_TrkStop Condition
Number
1 to 8.
M_TrkTime Condition
Number
1 to 8.
P_TrkBase Condition
Number
1 to 8.
Table 15-2 List of robot status variables
Function
External encoder data
External encoder data can be rewritten.
If this state variable does not set
parameter "TRMODE" to "1", the value
becomes "0".
The [Latched encoder data] of the encoder
value of the specified encoder value.
*0 always returns in D type or R type.
Amount of robot movement per encoder
pulse
The location of the workpiece when a
sensor reacted
The encoder data at the position in which
the sensor reacts to workpiece. Possible
to change the value to adjust it.
The encoder data at start position of
Tracking starting possible area
*It's changed by a program "A1"
automatically. Don't
variable manually. When it's changed,
arc information becomes abnormal.
The encoder value in the end position of
Tracking starting possible area
The encoder value in the location where a
tracking is ended compulsorily
*It's changed by a program "A1"
automatically. Don't
variable manually. When it's changed,
arc information becomes abnormal.
Parameter [TRPACL] value
Parameter [TRPDCL] value
Buffer Number
Tracking Starting Distance
Tracking Ending Distance
Tracking Forced Ending Distance
Timeout period of TrkWait command
Tracking Base coordinates
MELFA-BASIC V or MELFA-BASIC VI instruction 15-117
15 Maintenance of robot program
Attribute
(*1)
R/W
R/W
R/W
R
R/W
R/W
change this
R/W
R/W
change this
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Data type
Double-precision
real number
Double-precision
real number
Position
Position
Long-precision
real number
Long-precision
real number
Long-precision
real number
Long-precision
real number
Position
Position
Integer
Single-precision
real number
Single-precision
real number
Single-precision
real number
Single-precision
real number
Position