Mitsubishi Electric CR750-Q Instruction Manual page 340

4MELFA-BASIC V
J_ECurr
[Function]
Returns the current encoder pulse value.
[Format]
Example) <Joint Type Variable>=J_ECurr [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 J1=J_ECurr(1)
2 MA=JA. 1
[Explanation]
(1) Although the value to be returned is a pulse value, use the joint type as the substitution type. Then, spec-
ify joint component data, and use by substituting in a numeric variable.
(2) This variable only reads the data.
4-320 Detailed explanation of Robot Status Variable
Specify a joint type variable to be assigned.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' JA will contain the encoder pulse value of mechanism 1.
' Loads the encoder pulse value of the J1 axis to the MA.