Mitsubishi Electric CR800 Series Instruction Manual page 58

5Using the Electric Hand (Programming)
M_EHCur
[Function]
Return the current position of the electric hand.
[Format]
<Numerical variable>=M_EHCur [(<Hand No.>)]
[Terminology]
<Numerical variable>....Specify the numerical variable which substitutes current position of the electric hand.
<Hand No> ............. .....Specify the electric hand numbers 1 to 3 in integer. Specify with the constant or the
[Reference Program]
1 MPos=M_EHCur
2 MPos=MPos+0.5
3 M_EHPos1(5)=MPos
4 EHMov 1, 5, 100
5 Wait M_EHInPs=1
6 EHClose 1, 50, 30
7 Wait M_EHBusy=0
8 Dly 0.1
9 Wait M_EHInPs=1
[Explanation]
1) Specify the hand number and return the current position of the electric hand.
2) The range of the current position is -9999.99 to +9999.99 mm.
3) The value when the target hand is not connected is 0.
4) The value when the origin setting of the target hand is not done is indefinite.
5) The current position of the Multifunctional Electric Hand being operated may be acquired if the current
position is acquired by M_EHCur after the Multifunctional Electric Hand status (M_EHBusy or
M_EHInPs) is checked. In this case, wait for a period of time by using Dly (approximately 0.1s).
5-46 Operating Procedure
numeric variable. 1 is set as the default value.
(notes: The real number is rounded off.)
'Substitute the current position of the hand.
'Add 0.5mm to the current position.
'Set as the point5.
'Move the hand1 to the point5. (point No.=5, speed =100%).
'Confirm arrival to the specified position.
'Close the hand1.
'Wait to complete operation of the hand.
'Wait for a period of time.
'Confirm arrival.