Mitsubishi Electric CR750 Series Instruction Manual page 112

10 Maintenance of robot program
P_CvSpd
[Function]
Return the conveyer speed.
[Format]
[Referencing]
< Position variable > = P_CvSpd(<Logic encoder number >)
[Terminology]
<Logic encoder number [integer]> ： (can be omitted.)
Specify the number of logic encoders which do a chase movement.
Setting range: 1 to 8
If the argument is omitted, 1 is set as the default value
<Position variable [position]>
Return the conveyer speed.
In case of the high-speed tracking function, returns the rate in each coordinate of (X, Y, Z, 0, 0, 0, L1,
L2).
（When a conveyor is arranged slantingly, the value enters X,Y,Z.）
In case of the circular arc tracking function, returns tool-up speed on the arc to an X element.
[Reference program]
PCvSpd = P_CvSpd(1)
[Explanation]
(1) Refer to speed of the conveyer and the turntable.
(2) In case of the circular arc tracking, when do not execute the command "TrkArc", returns the value of all
zero.
(3) You can omit the step to specify <Logic encoder number>.When it is omitted, logic encoder number will be
treated as "1."
(4) Error L.3110 (value of the argument outside of the range) occurs when <Logic encoder number> is outside
a set range.
(5) This variable is read only.
10-102 MELFA-BASIC V Instructions
' Stocks the speed of logic encoder No 1 in a PCvSpd variable