Download CR750/CR751 series controller Tracking

19 Maintenance of robot program
• As encoder value is in double-precision real number, specify <numerical variable> with a variable which is of
double-precision real-number type.
• You can omit the step to specify <logic encoder number> . When it is omitted, logic encoder number will be
treated as "1."
• Number which you can enter to specify <logic encoder number> is an integer in the range of "1" to "8."
Entering anything else causes L3110 (Out-of-range Argument) error to occur.
* If a number having a decimal part is entered, the fraction of 0.5 or over will be counted as one and the rest
will be cut away.
• As latched encoder data represents a value present at a low-to-high or high-to-low transition of TREN signal,
you should check input corresponding to input number in 810 to 817 range which has been assigned to
TREN signal when reading it out.
• You can clear the encoder to zero by typing "0" after having used latched encoder data. This step may be
performed as a precaution against using previously latched data.
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MELFA-BASIC V Instructions