Mitsubishi Electric CR800-D Series - Setting Detection Level; Encoder Data and Communication Abnormality

4-27How to Operate Variables
4Reads/Writes Robot's Variables
• When the data is successfully written into a variable, the variable data in the robot after the writing is read
again and sent.
Therefore, even when writing into a position or joint variable is successfully ended, the data specified by
the GOT may be different from the data to be sent by the robot. The robot's posture data or the number of
significant figures of data's digits after decimal point may differ.
4.3.2 Timing Chart
Fig.4-1:Variable operation timing chart
(1) The GOT sets up "Function number", "Slot number", "Variable name", and "Variable data" (only for
writing variable) and turns ON "Request for variable operation".
(2) When the robot receives "Request for variable operation ON", the robot operates the variable based
on received data. When "Function number", "Slot number", "Variable name", "Variable data", and
"Completion status" are specified after the operation, the robot turns ON "Variable operation com-
pleted".
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Variable operation completed".
(3) When "Variable operation completed ON" is received, the GOT turns OFF "Request for variable oper-
ation".
(4) When received "Request for variable operation OFF", the robot turns OFF "Variable operation com-
pleted" and clears the data.
(1) (2) (3) (4)
Sequencer
Robot
Function No
Slot No
Variable Name
Request for variable
operation
Variable operation
completed
(Variable data)
Function No
Slot No
Program name
Variable Name
Variable data
Completion status
GOT Robot