Mitsubishi Electric CR750-Q Instruction Manual page 369

M_Mxt
[Function]
Use this command for synchronization of the robot applications between the master and slave robots for
cooperative operation.
[Format]
Example)<Numeric Variable>=M_Mxt(<Target CPU No.>)
[Terminology]
<Numeric Variable>
<Target CPU No.>
[Reference Program]
M_Mxt(2)=1
Wait M_Mxt(2)=1
[Explanation]
(1) This can be used for synchronization of the applications with the cooperative operation function.
(2) In the target CPU, this variable reads and writes the data. In other CPU, this variable only reads the data.
(3) If the status variable is changed from 1 to 0 at the master robot during the cooperative operation, the
slave robot finishes Mxt command automatically.
(4) The initial value after power ON is 0.
M_On/M_Off
[Function]
Always returns 1 (M_On) or 0 (M_Off).
[Format]
Example)<Numeric Variable>=M_On
Example)<Numeric Variable>=M_Off
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
[Reference Program]
1 M1=M_On
2 M2=M_Off
[Explanation]
(1) Always returns 1 or 0.
(2) This variable only reads the data.
Specifies the numerical variable to assign.
Enter the CPU module No. of the master robot. 2 to 4.
' The robot CPU No. 2 starts cooperation.
' Wait for the robot CPU No. 2 to start cooperation.
' 1 is assigned to M1.
' 0 is assigned to M2.
Detailed explanation of Robot Status Variable 4-349
4MELFA-BASIC V