Mitsubishi Electric CR750-Q Instruction Manual page 176

4MELFA-BASIC V
Variable
No
name
28 M_Wuprt
29 M_Wupst
30 M_Ratio
31 M_RDst
32 M_Spd
33 M_NSpd
34 M_RSpd
35 M_Acl
36 M_DAcl
37 M_NAcl
38 M_NDAcl
39 M_AclSts
40 M_SetAdl
41 M_LdFact
42 M_Run
43 M_Wai
44 M_Psa
45 M_Cys
46 M_Cstp
47 C_Prg
48 M_Line
49 M_SkipCq
50 M_BrkCq
51 M_Err
4-156 Robot status variables
Array designation
Note1)
Mechanism No.(1 to 3) Time until the warm-up operation status is
canceled (sec.)
Mechanism No.(1 to 3) Time until the warm-up operation status is set
again (sec.)
Slot No.(1to 32) Fraction of the current movement left before
reaching the target position (%)
Slot No.(1to 32) Remaining distance left of the current movement
(only the three dimensions of X, Y, and Z are taken
into consideration: mm)
Slot No.(1to 32) Current specified speed (valid only for linear/
circular interpolation)
Slot No.(1to 32) System default value (default value of M_Spd)
(mm/s)
Slot No.(1to 32) Current directive speed (mm/s)
Slot No.(1to 32) Current specified acceleration rate (%)
Slot No.(1to 32) Current specified deceleration rate (%)
Slot No.(1to 32) System default value (default value of M_Acl) (%)
Slot No.(1to 32) System default value (default value of M_DAcl)
(%)
Slot No.(1to 32) Current acceleration/deceleration status
0 = Stopped, 1 = Accelerating, 2 = Constant
speed, 3=Decelerating
Axis No.(1 to 8) Specify the acceleration/deceleration time ratio
(%) of each axis.
Axis No.(1 to 8) The load factor of the servo motor of each axis.
(%)
Slot No.(1to 32) Operation status (1: Operating, 0: Not operating)
Slot No.(1to 32) Pause status (1: Pausing, 0: Not pausing)
Slot No.(1to 32) Specifies whether or not the program selection is
possible in the specified task slot. (1: Selection
possible, 0: Selection not possible, in pause
status)
Slot No.(1to 32) Cycle operation status (1: Cycle operation, 0: Non-
cycle operation)
None Cycle stop operation status (1: Cycle stop, 0: Not
cycle stop)
Slot No.(1to 32) Execution program name
Slot No.(1to 32) Currently executed line No.
Slot No.(1to 32) A value of 1 is input if execution of an instruction is
skipped as a result of executing the line that
includes the last executed Skip command,
otherwise a value of 0 is input.
None Result of the BREAK instruction
(1: BREAK, 0: None)
None Error occurring (1: An error has occurred, 0: No
errors have occurred)
Details
Attribute
Data type, Unit
Note2)
R Single-precision
real number type,
sec
R Single-precision
real number type,
sec
R Integer type, %
R Single-precision
real number type,
mm
R Single-precision
real number type,
mm/s
R Single-precision
real number type,
mm/s
R Single-precision
real number
type,mm/s
R Single-precision
real number type, %
R Single-precision
real number type, %
R Single-precision
real number type, %
R Single-precision
real number type, %
R Integer type
RW Single-precision
real number type, %
R Single-precision
real number type, %
R Integer type
R Integer type
R Integer type
R Integer type
R Integer type
R Character string
type
R Integer type
R Integer type
R Integer type
R Integer type
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