Mitsubishi Electric CR750-Q Instruction Manual page 442

4MELFA-BASIC V
Rdfl 2
[Function]
Returns the multiple rotation information of the specified joint axis.
[Format]
<Numeric Variable>=Rdfl2(<Position Variables>, <Equation>)
[Terminology]
<Position Variables>
<Equation>
[Reference Program]
1 P1=(100,0,100,180,0,180)(7,&H00100000) '
2 M1=Rdfl2(P1,6)
[Explanation]
(1) Of the multiple rotation information of the position data specified by argument 1, the value for the joint
axis specified by argument 2 is extracted.
(2) The range of the return value is between -8 and 7.
(3) This function extracts information from the FL2 element of position data.
(4) Structure flag 2 (multiple rotation information) has a 32-bit structure, which contains 4 bits of information
per axis for 8 axes.
(5) When displaying in T/B and the multiple rotation is a negative value, value of -1 to -8 is converted into F
to 8 (4-bit signed hexadecimal notation) and displayed.
<Sample display of multiple rotation
information in TB>
When multiple rotation of axis J6 is +1:
When multiple rotation of axis J6 is -1:
(6) It is not possible to describe a function that contains an argument in <Position Variables> and
<Equation>. If such a function is described, an error will be generated during execution.
[Reference]
Rdfl 1, Setfl 1, Setfl
4-422 Detailed Explanation of Functions
Specifies the position variable from which the multiple rotation information is to
be extracted.
Specifies the value for the joint axis from which the multiple rotation information
is to be extracted. (1 through 8)
2, JRC (Joint Roll Change)
' 1 is assigned to M1.
<Relationship between display and number of
87654321 axis
FL2=00100000 ............... -2 -1 0 +1 +2...............
FL2=00F00000 ............... E F 0 1 2...............
multiple rotations per axis>