Mitsubishi Electric CR750-Q Instruction Manual page 231

(2) The current position data of the robot set in <Mechanism No.> is recorded in the P_GpsX(), and the
number of the position data obtained is recorded in the in the M_Gps(n), when the signal set in <Input
No.> satisfies the condition specified in <Condition>. However, monitoring the condition defined in this
command is not started until the GpsChk On command is executed.
(All of the position data and the number of its data responding to the input signal is stored in the
P_GpsX() and M_Gps(n), respectively. They are not linked to the settings in <Sensitivity> and <Number
of segments>.)
(3) The position data stored in the P_GpsX(), M_MapX(), and M_Gps(n) is cleared to zero when the GpsChk
On command for the target monitoring number is executed.
(4) When the position settings in <Lowest position> and <Highest position> are equal, the number of seg-
ments is defined as one, and the presence or absence of the workpiece in that segment is checked
(calculated).
(5) During multitask operation, the monitored condition is independently defined for each task slot. Each
defined condition is valid for the target slot only. Up to 8 conditions including the one defined in the Def
Gps command can be defined for all slots.
(6) This command is not available for the programs in which the starting condition is set to ALWAYS or
ERROR.
(7) This command is not covered by the continue function.
(8) If several conditions are set for one monitoring number, the previously-executed condition is overwritten
by the condition to be executed subsequently.
(9) The condition setting defined in this command is cleared to zero when the program is reset, the End
command is executed, or the controller is turned on next time.
(10) The condition defined in this command is retained in a sub program called up by the CallP command.
When a new setting for this condition is defined in a sub program, it overwrites the previous setting.
(11) When the same number is set in <Monitoring No.> of this command as in <Monitoring No.> of the Def
Gps command, the monitored condition set in the command which is executed last is valid (the one set
in the command which was executed previously is deleted).
(12) During monitoring by executing the GpsChk On command, the setting of target condition cannot be
changed in this command. The setting of condition can be changed after stopping monitoring by exe-
cuting the GpsChk Off command.
[Related instructions]
GpsChk (Get position
[Related system status variables]
M_Gps, P_Gps1 to
check), Def Gps (Define get position)
P_Gps8, M_Map1 to M_Map8
Detailed explanation of command words 4-211
4MELFA-BASIC V