Joint Variables; Input/Output Variables; Array Variables - Mitsubishi Electric CR750-Q Instruction Manual

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
M2 = Deg (J1.J2)
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.
Input/output variables
M_In
M_Inb
M_Inw
M_Out
M_Outb
M_Outw
M_DIn
M_DOut
Please refer to the robot status variables
M_Out/M_Outb/M_Out8/M_Outw/M_Out16", and

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)
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.
(Unit: radian)
(Unit: degree)
name
For referencing input signal bits
For referencing input signal bytes (8-bit signals)
For referencing input signal words (16-bit signals)
For referencing/assigning output signal bits
For referencing/assigning output signal bytes (8-bit signals)
For referencing/assigning output signal words (16-bit signals)
For referencing input registers for CC-Link
Cannot use in CRnQ series.
For referencing output registers for CC-Link
Cannot use in CRnQ series.
Page 340, "
Single-precision real number type
Explanation
M_In/M_Inb/M_In8/M_Inw/M_In16",
Page 330, " M_DIn/M_DOut".
Detailed specifications of MELFA-BASIC V 4-143
4MELFA-BASIC V
Page 352, "