External Variables; Program External Variables - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

4.4.22 External variables

External variables have a "_" (underscore' for the second character of the identifier (variable name). (It is
necessary to register user-defined external variables in the user base program.) The value is valid over mul-
tiple programs. Thus, these can be used effectively to transfer data between programs.
There are four types of external variables, numeric value, position, joint and character, in the same manner
as the Page 138, "4.4.8 Data
Table 4-7:Types of external variables
External variables

Program external variables

User-defined external variables
Robot status variables
(System status variables)
4.4.23 Program external variables
Table 4-8 lists the program external variables that have been prepared for the controller in advance.As
shown in the table, the variable name is determined, but the application can be determined by the user.
Table 4-8:Program external variables
Data type
Position
Position array (No. of elements 10)
Joint
Joint array (No. of elements 10)
Numeric value
Numeric value array
(No. of elements 10)
Character string
Character string array
(No. of elements 10)
Note1) When you use the extension, change the following parameter.
Parameter
PRGGBL 0:Standard (default)
1:Extension
4-144 Detailed specifications of MELFA-BASIC V
type". The following three types of external variables are available.
Types of external variables
The user can determine the name freely. Declare the vari-
ables using the Def Pos, Def Jnt, Def Char, or DEF INTE/
FLOAT/DOUBLE instructions in the user base program.
The robot status variables are controlled by the system, and
their usage is determined in advance.
Note1)
Variable name
P_00 to P_19
P_20 to P_39
P_100( ) to P_104( )
P_105( ) to P_109( )
J_00 to J_19
J_20 to J_39
J_100( ) to J_104( )
J_105( ) to J_109( )
M_00 to M_19
M_20 to M_39
M_100( ) to M_104( )
M_105( ) to M_109( )
C_00 to C_19
C_20 to C_39
C_100( ) to C_104( )
C_105( ) to C_109( )
Value
Sets "1" to this parameter, and turns on the controller power again, then the capacity
of each program external variable will double.
However, if a variable with the same name is being used as a user-defined external
variable, an error will occur when the power is turned ON, and it is not possible to
expand. It is necessary to correct the user definition external variable.
Explanation
Qty.
20
20
5 Use the array element in the first dimensions.
5
20
20
5 Use the array element in the first dimensions.
5
20 The data type of the variables is double-precision real
20 numbers.
5 Use the array element in the first dimensions. The data
5 type of the variables is double-precision real numbers.
20
20
5 Use the array element in the first dimensions.
5
Means
Example
P_01,M_01,P_100(1), etc.
P_GENTEN,M_MACHI
M_In,M_Out,P_Curr,M_PI, etc.
Remarks