Mitsubishi Electric CR750-Q Instruction Manual page 379

M_RDst
[Function]
Returns the remaining distance to the target position (in mm) while the robot is moving.
[Format]
Example)<Numeric Variable>=M_RDst [(<Equation>)]
[Terminology]
<Numeric Variable>
<Equation>
[Reference Program]
1 Mov P1 WthIf M_RDst<10 M_Out(10)=1
[Explanation]
(1) This is used, for instance, when performing a procedure at a specific position while the robot is moving.
(2) This variable only reads the data.
M_Run
[Function]
Returns whether the program for the specified task slot is being executed.
1: Executing.
0: Not executing (paused or stopped).
[Format]
Example)<Numeric Variable>=M_Run [(<Equation>)]
[Terminology]
<Numeric Variable>
<Equation>
[Reference Program]
1 M1=M_Run(2)
[Explanation]
(1) This will contain 1 if the specified slot is running, or 0 if the slot is stopped (or paused).
(2) Combine M_Run and M_Wai to determine if the program has stopped (in case the currently executed
line is the top line).
(3) This variable only reads the data.
Specifies the numerical variable to assign.
1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
' The output signal 1 will turn ON when the remaining dis-
tance until the target position is reached becomes 10 mm
or less while moving toward P1.
Specifies the numerical variable to assign.
1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
' M1 will contain the execution status of slot 2.
Detailed explanation of Robot Status Variable 4-359
4MELFA-BASIC V