4-390 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
P_GCurr
[Function]
This command contains a status variable to read the current position of the master robot on starting the
cooperative operation between the master and slave robots. Use this command to align the start positions
of movement by reading the current position of the master robot before starting the cooperative operation.
As a preparation, it is required to enable the iQ extended function so that the current position of the target
CPU can be monitored.
[Format]
[Terminology]
<Position Variables> Specifies the position variable to assign.
<Target CPU No.> Enter the CPU module No. of the master robot. 2 to 4.
[Reference Program]
Open "MXT:QRBUS2" As #1 ' Specify the robot CPU No. 2 in the shared memory as a master robot.
Mov P_GCurr(2) ' The start positions of movement at the host CPU is aligned with the
robot CPU No. 2.
[Explanation]
(1) This command can be used to obtain the start position data of movement in the application with the
cooperative operation function.
(2) This variable only reads the data.
(3) The current position of the target CPU at the point of reading this variable is assigned.
If the specified target CPU is not enabled the iQ extended function, all values are always 0 (same as
the P_Zero).
(4) The assigned value for the status variable is retained until the controller is powered off. Reading is pos-
sible regardless of the Open command.
[Reference]
Torq (Torque), J_Fbc/J_AmpFbc, M_Fbd
Example)<Position Variables>=P_GCurr [(<Target CPU No.>)]
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