Mitsubishi MELFA CR1D - Page 318

4-305 Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
P_Fbc
[Function]
Returns the current position (X,Y,Z,A,B,C,L1,L2)(FL1,FL2) based on the feedback values from the servo.
[Format]
[Terminology]
<Position Variables> Specifies the position variable to assign.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 P1=P_Fbc ' P1 will contain the current position based on the feedback.
[Explanation]
(1) Returns the current position based on the feedback values from the servo.
(2) This variable only reads the data.
[Reference]
Torq (Torque),J_Fbc/J_AmpFbc,M_Fbd
P_Safe
[Function]
Returns the safe point (XYZ position of the JSAFE parameter).
[Format]
[Terminology]
<Position Variables> Specifies the position variable to assign.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 P1=P_Safe ' P1 will contain the set safe point being set.
[Explanation]
(1) Returns the XYZ position, which has been converted from the joint position registered in parameter
JSAFE.
(2) This variable only reads the data.
Example)<Position Variables>=P_Fbc [(<Mechanism Number>)]
Example)<Position Variables>=P_Safe [(<Mechanism Number>)]