Mitsubishi Electric CR750-Q Instruction Manual page 355

M_ESpd
[Function]
Returns the transit speed [mm/s] of Ex-T coordinate system currently used during the Ex-T control/Ex-T
spline interpolation
[Format]
Example)<Position Variables>=M_ESpd [(<Mechanism Number>)]
[Terminology]
<Position Variables>
<Mechanism Number>
[Reference Program]
1 Wait M_00=1
2 *L1:If M_ESpd < 50 Then GoTo *L1
3 M_Out(100)=1
[Explanation]
(1) During Ex-T control/Ex-T spline interpolation, the transit speed of the Ex-T coordinate is returned.
(2) By referring to the M_ESpd value with multi-task, the operation process or signal output, etc., can be
executed according to the transit speed of Ex-T spline interpolation.
(3) When the Ex-T control/Ex-T spline interpolation is not executed, 0.0 will be returned.
(4) M_ESpd returns the value indicated in the following table according to the state.
Table 4-21:Value returned by M_ESpd
Immediately after power ON
During Ex-T control/Ex-T spline interpola-
tion execution
During interpolation execution without Ex-
T control/Ex-T spline interpolation
During interpolation is paused
Immediately after main program's End
command is executed
Immediately after program reset operation
Mechanism not compatible with spline
interpolation
(5) M_ESpd is a read-only status variable.
[Related instructions]
EMvc (E Move C), EMvr (E Move R), EMvr2 (E Move R 2), EMvr3 (E Move R 3), EMvs (E Move S), EMvSpl
(E Move Spline)
Designates the numerical variable substituted for the reference results.
Sets the mechanism No. that executes Ex-T control/Ex-T spline interpolation.
Setting range: 1 to 3
When omitted: 1
If a non-existent mechanism No. is designated, the error L3870 (designated
mechanism No. invalid) will occur when execution is started.
' Wait for spline interpolation to start
' When the transit speed is over 50 [mm/s], turns output signal 100 ON.
Status
0.0
Transit speed of the Ex-T coordinate during exe-
cuting interpolation.
0.0
0.0
0.0
0.0
0 (0 even after write is executed)
Value returned by M_ESpd
Detailed explanation of Robot Status Variable 4-335
4MELFA-BASIC V