Mitsubishi Electric CR750-Q Instruction Manual page 368

4MELFA-BASIC V
3 GpsChk On,3
4 Mvs PM2
5 GpsChk Off,3
6 M1=M_Gps(3)
7 If M1=0 Then Error 9000
8 For M2=1 To 20
9 M_Out(6100+M2) = M_Map3(M2)
10 Next M2
[Explanation]
(1) The current position data of the robot is stored in the P_GpsX() when the condition defined in the Def
Map command is met. The segment number in which the workpiece is present is calculated from that
position data and the condition defined in the Def Map command, and stored in this status variable.
(2) To send the data of workpiece position to an external device, output the signal including the information
stored in this status variable.
(3) The value is cleared to zero when the GpsChk On command is executed.
(4) The number of times can be confirmed after the GpsChk Off command is executed.
(5) This variable only reads the data.
(6) The number of times is cleared to zero when the controller is turned on. (This command is not covered
by the continue function.)
[Related instructions]
Def Map (Define
M_Mode
[Function]
Returns the key switch mode of the operation panel.
1: MANUAL
2: AUTOMATIC (O/P)
3: AUTOMATIC (External)
[Format]
Example)<Numeric Variable>=M_Mode
[Terminology]
<Numeric Variable>
[Reference Program]
1 M1=M_Mode
[Explanation]
(1) This can be used in programs set to ALWAYS (constantly executed) during multitask operation.
(2) This variable only reads the data.
4-348 Detailed explanation of Robot Status Variable
' Monitoring a condition for the monitoring No. 3 is started. The position
data is recorded when the signal No. 851 is turned on, and the seg-
ment number in which the workpiece is present is calculated from that
position data, which is shown as "M_Map3(130)".
' The robot moves its arm to the mapping stop position.
' Monitoring a condition for the monitoring No. 3 is stopped.
' The number of the position data recorded in the P_Gps3 is stored.
' The error 9000 is generated if no position data is recorded.
' The results of the mapping are output with a signal (the signal number
"6101" is assigned for the first result).
' The process performed for the first segment is repeated for the remain-
ing segments.
mapping), GpsChk (Get position check)
Specifies the numerical variable to assign.
' M1 will contain the key switch status.