4MELFA-BASIC V
Detailed explanation of Robot Status Variable 4-371
[Reference Program]
1 M_UDevW(&H3E1, 10010)=&HFFFF ' The &HFFFF (hexadecimal number) is written to the
shared memory address 10010 of No. 2 CPU (host CPU).
2 M_UDevD(&H3E1, 10011)=P1.X * 1000 ' 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).
3 M1%=M_UDevW(&H3E2, 10001) And &H7 ' The value of 3-bit width from 10001 of shared memory
address of No. 3 CPU is substituted to M1.
[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 Page 372, "[Reference] Assurance of data sent
between CPUs"
[Supplementary]
Table 4-34:<Numeric value>
Table 4-35:<<Sequencer input-signal number>
O: The available, X: unavailable
Bit width
Numeric variables types Other variables
Integer
Ex.)M1%
Long-preci-
sion inte-
ger number
Ex.)M1&
Single-pre-
cision real
number
Ex.)M1!
Double-
precision
real num-
ber
Ex.)M1#
Position
Note1)
Ex.)P1.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
Joint
Note1)
Ex.)J1.J1
Charac-
ter string
Ex.)C1$
M_UDevW X O O O O O X
M_UDevD X O O O O O X
O: The available, X: unavailable
Bit width
constant types Numeric variables types Other variables
Numeric
value
Note1)
Ex.)12
Note1) The real value is rounded off.
Binary num-
ber
Ex.)&B1100
Hexadeci-
mal number
Ex.)&HC
Integer
Ex.)M1%
Long-pre-
cision inte-
ger
number
Ex.)M1&
Single-pre-
cision real
number
Note1)
Ex.)M1!
Double-
precision
real num-
ber
Note1)
Ex.)M1#
Position
Note1)
Note2)
Ex.)P1.X
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.
Joint
Note1)
Note2)
Ex.)J1.J1
Charac-
ter string
Ex.)C1$
M_UDevW
OO OOOOOOXX
M_UDevD
OO OOOOOOXX
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