Mitsubishi Electric CR750-Q Instruction Manual page 391

[Reference Program]
1 M_UDevW(&H3E1, 10010)=&HFFFF
2 M_UDevD(&H3E1, 10011)=P1.X * 1000
3 M1%=M_UDevW(&H3E2, 10001) And &H7 ' The value of 3-bit width from 10001 of shared memory
[Explanation]
(1) Exchange directly the signals with two or more robot CPUs.
(2) Specify the shared memory to be used by the top input output signal number and the shared memory
address.
(3) Both values (reads/ writes) are the integer values.
(4) Handle the data of the following width about the specified shared memory address.
M_UDevW:16 bit, M_UDevD:32 bit
(5) The range of the top input output signal number is &H3E0-&H3E3 in hexadecimal expression. (992-995
in the decimal number)
And, the range of the shared memory address written in or referred to is 10000-24335 in decimal num-
ber.
(6) The write function is allowed to host CPU only. It is not updated, although the address of other CPU units
is specified and the data is written in.
(7) Accessing to the shared memory with placing the address of even number in front can realize the data
consistency for 32 bit data with M_UDevD. Refer to
between CPUs"
[Supplementary]
Table 4-34:<Numeric value>
Integer
Bit width
Ex.)M1%
M_UDevW X
M_UDevD X
Note1) If the value of the variable is the angle, the unit will be processed by the radian. (The elements of A, B and C of
position variable, and all elements of joint variable) The display of the monitor etc. is converted into the
degree and displayed
Table 4-35:<<Sequencer input-signal number>
Numeric
Note1)
value
Bit width
Ex.)12
M_UDevW O
M_UDevD O
Note1) The real value is rounded off.
Note2) If the value of the variable is the angle, the unit will be processed by the radian. (The elements of A, B and C of position variable, and all elements of joint
variable) Therefore, designation of the signal number is very difficult. The display of the monitor etc. is converted into the degree, and the same value
as the setting value displayed.
Example) It is processed by value "0", even if it sets "8" as the value of P1.A (The input in the key by T/B etc.) to specify the input signal No.8. The
result is "0" when 8 degree is converted to radian (0.14) and rounded off. Because the unit of the element X, Y, and Z of the position
variable is "mm", there is no such condition.
Numeric variables types
Long-preci- Single-pre-
sion inte- cision real
ger number number
Ex.)M1& Ex.)M1!
Ex.)M1#
O O
O O
constant types
Binary num- Hexadeci-
ber mal number
Ex.)&B1100 Ex.)&HC Ex.)M1%
O O
O O
' The &HFFFF (hexadecimal number) is written to the
shared memory address 10010 of No. 2 CPU (host CPU).
' Calculate the X coordinate value of position variable P1 by
1000. And write the result value to shared memory
addresses of 10011/10012 (two word) on No. 2 CPU (host
CPU).
address of No. 3 CPU is substituted to M1.
Page 372, "[Reference] Assurance of data sent
O: The available, X: unavailable
Other variables
Double- Position
Joint
precision
Note1)
Note1)
real num-
ber
Ex.)P1.X
Ex.)J1.J1
O O O
O O O
Numeric variables types
Integer Long-pre-
Single-pre-
cision inte-
cision real
ger
number
number
Note1)
Ex.)M1!
Ex.)M1&
O O O
O O O
Detailed explanation of Robot Status Variable 4-371
4MELFA-BASIC V
Charac-
ter string
Ex.)C1$
X
X
O: The available, X: unavailable
Other variables
Double-
Position
Joint
precision
Note1)
Note1)
real num-
Note2)
Note2)
ber
Note1)
Ex.)J1.J1
Ex.)P1.X
Ex.)M1#
O O X
O O X
Charac-
ter string
Ex.)C1$
X
X