4-392 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
P_Safe
[Function]
Returns the safe point (XYZ position of the JSAFE parameter).
[Format]
[Terminology]
<Position Variables> Specifies the position variable to assign.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 P1=P_Safe ' P1 will contain the set safe point being set.
[Explanation]
(1) Returns the XYZ position, which has been converted from the joint position registered in parameter
JSAFE.
(2) This variable only reads the data.
P_Tool/P_NTool
[Function]
Returns tool conversion data.
P_Tool: Returns the tool conversion data that is currently being set.
P_NTool: Returns the initial value (0,0,0,0,0,0,0,0)(0,0).
[Format]
[Terminology]
<Position Variables> Specifies the position variable to assign.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 P1=P_Tool ' P1 will contain the tool conversion data.
[Explanation]
(1) P_Tool returns the tool conversion data set by the Tool instruction or the MEXTL parameter.
(2) Use the Tool instruction when changing tool data.
(3) This variable only reads the data.
Example)<Position Variables>=P_Safe [(<Mechanism Number>)]
Example)<Position Variables>=P_Tool [(<Mechanism Number>)]
Example)<Position Variables>=P_NTool
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