Mitsubishi Electric CR750-Q User Manual

7Appendix
Get-position-quick function Appendix-705
7.6.5 How to use the GPS function
(1) Position data acquisition at the sensor input timing
This section shows the basic method to create programs using the MELFA BASIC V programming language
for position data acquisition according to the signal input timing.
Table 7-29: Command list of MELFA BASIC V
Table 7-30: Status variables list
1) Definition of the monitoring condition
First, define a condition (an input signal number, a signal condition, and a mechanism number) for the
position data acquisition according to an external signal input timing in the Def Gps command. Up to
eight different conditions can be set. Each setting of condition is controlled by the monitoring number.
2) Starting the monitoring
When the GpsChk On command ("GpsChk On,n" statement) is executed, start monitoring for the tar-
get monitoring number which is defined in the Def Gps command, and store the robot position data at
the point of time when the condition holds. Up to 400 position data can be obtained for one monitoring
number.
("n" in "GpsChk On,n" statement indicates the target monitoring number from 1 to 8.)
3) Stopping the monitoring
When the GpsChk Off command ("GpsChk Off,n" statement) is executed, stop monitoring for the tar-
get monitoring number, and store the robot position data in the status variable P_GpsX(). ("X" indi-
cates the same number as the target monitoring number from 1 to 8.) Up to 400 position data can be
stored for one monitoring number. (A numerical value in the array elements is numbered in turn every
time the position data is obtained.)
The number of position data stored in the P_GpsX() is retained in the status variable M_Gps(n). The
position data stored in the M_Gps(n) and P_GpsX() is cleared to zero when the GpsChk On command
("GpsChk On,n" statement) is executed next time.
("n" in "GpsChk Off,n" statement and the status variable M_Gps(n) indicates the target monitoring
number from 1 to 8.)
Command Explanation
Def Gps This command defines a condition for the position data acquisition using the GPS function.
GpsChk This command starts/stops monitoring the set condition.
Variable name No. of array elements
Details
M_Gps(n)
(n:target monitoring num-
ber from 1 to 8)
1 to 8 (target monitoring
number)
The number of the position data recorded in the status variable
P_GpsX() is stored. ("X" indicates the same number as the target moni-
toring number from 1 to 8.)
P_Gps1(x) to
P_Gps8(x)
400 (data) Up to 400 of the robot position data at the point in time when the condi-
tion defined in the Def Gps command holds is stored.
[Targetonit moring numbern (n: 1 to 8)]
・ Input signal number
Set the target external input signal number.
・ Signal condition
Set a condition of timing (the rising/falling edge of the input
signal) for the position data acquisition.
・ Mechanism number
Set the target mechanism number for the position data acqui-
sition.

Mitsubishi Electric CR750-Q Specifications

General

Brand	Mitsubishi Electric
Model	CR750-Q
Category	Controller
Language	English