Mitsubishi Electric MELFA BFP-A8787-F - 4 Reads;Writes Robots Variables; Function Description; Operation Flow

4Reads/Writes Robot's Variables
Function Description 4-34
4 Reads/Writes Robot's Variables
4.1 Function Description
(1) Function list
The table below lists the variable operations performed from the sequencer:
Table 4-1:Variable operation function list
(2) Functional requirements
Always available when a program is selected for robot's target slot and the target variable exists.
When the target is external variable, the variable operation is possible by specifying zero for a slot number,
even when a program is not selected.
Be careful fully to change variable value.
The robot's location and behavior may be changed by changing the variable value,
thereby interfering with surrounding devices. Because it is especially dangerous
when the robot is in operation, sufficiently check the value to be changed.
4.2 Operation Flow
No Item Description
Robot's
response time
1 Read numeric variable Reads variable content by specifying slot number and variable name.
Answered within
1sec (it may vary
according to the
robot control's
load state)
2 Write numeric variable
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
3 Read position variable Reads variable content by specifying slot number and variable name.
4 Write position variable
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
5 Read joint variable Reads variable content by specifying slot number and variable name.
6 Write joint variable
Rewrites variable content by specifying slot number, variable name, and vari-
able content.
CAUTION
Prepare for Using Extended Function
Is variable operation necessary?
Start
Yes
No
Refer to "2. Preparation for Using Extended Function."
···
Carry out variable operation (read/ write)
Refer to "4.3 How to Operate Variables."
···
Refer to Page 6, "2 Preparation for Using Extended Function".
Refer to Page 35, "4.3 How to Operate Variables".