Mitsubishi Electric CR750-Q Instruction Manual page 366

4MELFA-BASIC V
M_LdFMax
[Function]
The maximum load ratio for each joint axis can be referenced.
[Format]
Example)<Numeric Variable>=M_LdFMax(<Axis Number>)
[Terminology]
<Axis Number>
<Numeric Variable> The load ratio of each axis is substituted. The range is 0 to 100%.
[Reference Program]
1 Accel 100,100
2 *Label
3 Mov P1
4 Mov P2
5 If M_LdFMax(2)>90 Then Goto *LdErr Else Goto *Label
6
7 *LdErr
8 Error 9101
9 End
[Explanation]
(1) The maximum load ratio of each axis can be referenced. The severity of a robot can be checked.
(2) The load ratio is derived from the current that flows to each axis motor and its flow time.
(3) The load ratio rises when the robot is operated with a heavy load in a severe posture for a long period of
time.
(4) When the load ratio reaches 100%, an overload error occurs. In the above example statement, once the
load ratio exceeds 90%, the acceleration/deceleration time is lowered to 50%.
(5) To lower the load ratio, measures, such as decreasing the acceleration/deceleration time, having the
robot standing by in natural posture, or shutting down the servo power supply, are effective.
(6) The initial value of the target mechanism number is "1". Therefore, when mechanism number 1 is tar-
geted, after executing the RelM command, or the program slot is other than 1, execution of the GetM
command is unnecessary. If target mechanism is other than 1, execute the GetM command beforehand.
[Related instructions]
Accel (Accelerate),
4-346 Detailed explanation of Robot Status Variable
1 to 8, Specifies the axis number.
' Lower the overall deceleration time to 100%.
' User error output
Ovrd (Override)