Mitsubishi Electric CR760-D User Manual

4MELFA-BASIC V
Detailed specifications of MELFA-BASIC V 4-143
4.4.19 Joint variables
A character string variable should start with J. If it is defined by the Def Jnt instruction, it is possible to spec-
ify a name beginning with a character other than J.
It is possible to reference individual coordinate data of joint variables.
In this case, add "." and the name of a coordinate axis, e.g. "J1," after the variable name.
JDATA.J1, JDATA.J2, JDATA.J3, JDATA.J4, JDATA.J5, JDATA.J6, JDATA.J7, JDATA.J8
The unit of the angular coordinate axes A, B, and C is radians. Use the DEG function to convert it to
degrees.
Example) JSTARAT = ( 0, 0, 90, 0, 90, 0, 0, 0 )
JDATA = JSTART
Dim J3 (10)
M1 = J1.J1 (Unit: radian)
M2 = Deg (J1.J2) (Unit: degree)
Def Jnt K10
Mov K 10
4.4.20 Input/output variables
The following types of input/output variables are available. They are provided beforehand by the robot sta-
tus variables.
Please refer to the robot status variables Page 340, " M_In/M_Inb/M_In8/M_Inw/M_In16", Page 352, "
M_Out/M_Outb/M_Out8/M_Outw/M_Out16", and Page 330, " M_DIn/M_DOut".
4.4.21 Array variables
Numeric value variables, character string variables, position variables, and joint variables can all be used in
arrays. Designate the array elements at the subscript section of the variables. Array variables should be
declared with the Dim instruction. It is possible to use arrays of up to three dimensions.
Example) Example of definition of an array variable
Dim M1 (10) Single-precision real number type
Dim M2% (10) Integer type
Dim M3 ! (10) Single-precision real number type
Dim M4# (10) Double-precsion real number type
Dim P1 (20)
Dim J1 (5)
Dim ABC (10, 10, 10)
The subscript of an array starts from 1.
However, among the robot status variables, the subscript starts from 0 for individual input/output signal vari-
ables (M_In, M_Out, etc.) only.
Whether it is possible to secure sufficient memory for the variable is determined by the free memory size.
Input/output variables
name
Explanation
M_In For referencing input signal bits
M_Inb For referencing input signal bytes (8-bit signals)
M_Inw For referencing input signal words (16-bit signals)
M_Out For referencing/assigning output signal bits
M_Outb For referencing/assigning output signal bytes (8-bit signals)
M_Outw For referencing/assigning output signal words (16-bit signals)
M_DIn For referencing input registers for CC-Link
Cannot use in CRnQ series.
M_DOut For referencing output registers for CC-Link
Cannot use in CRnQ series.

Mitsubishi Electric CR760-D Specifications

General

Brand	Mitsubishi Electric
Model	CR760-D
Category	Controller
Language	English