Mitsubishi Electric MELFA CR800-D Series - Cooperative Control Program Creation

6 Coordinated control for additional axes
Base coordinate cooperative control 6-93
6.2.6 Creatinn of robot program
In this chapter, robot program language MELFA-BASIC VI which is used in this function is explained.
6.2.6.1. The list of robot status variable.
The list of robot status variable related to this function is below.
Table 6-7 The list of robot status variable
Variable name
Number
of array
Function
Attribute
(*1)
Data type
M_BsCoopMd
-
Enable the base coordinate cooperative control by spline
interpolation.
R/W
Integer
P_BsCdCurr
-
Get the current base coordinate.
R
Position
(*1) R: Only read is possible. R/W: Read and write is possible.
6.2.6.2. Detail explanation of robot(system) status variable
Detail of status variable of this function is below.
The meanings of the items used to explain the status variables are as follows.
【Function】 ：This indicates a function of a variable.
【Format】 ：This indicates how to enter arguments of valiable.
[ ] means that arguments can be omitted. System status variables can be
used in conditional expressions, as well as reference and assignment
statements. In the format example, only reference and assignment
statements are given to make the description simple.
【Terminology】 ：This indicates the meaning and range of an argument.
【Reference program】 ：An example program using variables is shown.
【Explanation】 ：This indicates detailed functions and precautions.