Mitsubishi MELFA CR1D User Manual

4-281 Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
M_G
[Function]
Returns gravitational constant (9.80665).
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
[Reference Program]
1 M1=M_G ' Gravitational constant (9.80665) is assigned to M1.
[Explanation]
(1) This is used to perform calculation related to gravity.
(2) This variable only reads the data.
M_HndCq
[Function]
Returns the hand check input signal value.
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
<Equation> Enter the hand input signal number.
1 to 8, (Corresponds to input signals 900 to 907.)
[Reference Program]
1 M1=M_HndCq(1) ' M1 will contain the status of hand 1.
[Explanation]
(1) Returns one bit of the hand check input signal status (such as a sensor).
(2) M_HndCq(1) corresponds to input signal number 900. Same result will be obtained using M_In (900).
(3) This variable only reads the data.
Example) <Numeric Variable>=M_G
Example) <Numeric Variable>=M_HndCq (<Equation>)

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English