Mitsubishi Electric CR800 Series Instruction Manual page 135

[Explanation]
(1) Read the workpiece position (robot coordinates), encoder value, model number, encoder number and
workpiece position (pixel coordinates) stored by the TrWrt instruction from the specified buffer.
(2) If the TrRd instruction is executed when no data is stored in the specified buffer, Error 2540(There is no read
data) occurs.
MELFA-BASIC V or MELFA-BASIC VI instruction 15-123
15 Maintenance of robot program