Mitsubishi Electric CR750-Q Instruction Manual page 396

4MELFA-BASIC V
M_Wupst
[Function]
Returns the time (sec) until the warm-up operation status is set again after it has been canceled.
Note: For more information about the warm-up operation mode, see
Mode" for detail.
[Format]
Example)<Numeric Variable> = M_Wupst [(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 M1=M_Wupst(1)
[Explanation]
(1) This is used to confirm when the warm-up operation status is set again after how long more the joint axis
specified in the WUPAXIS parameter (warm-up operation mode target axis) continues to stop operating
while the robot's warm-up operation status (the status in which operation is performed by automatically
reducing the speed) is canceled.
(2) If the warm-up operation mode is disabled, the time specified in the second element (warm-up operation
mode resume time) of the WUPTIME parameter is returned.
(3) If a target axis operates while the warm-up operation status is canceled, the time specified in the second
element (warm-up operation mode resume time) of the WUPTIME parameter is set as the initial value,
and the value of M_Wupst decreases while the target axis is stopping. And when the value is set to 0,
the warm-up operation status is set.
(4) If a multiple number of target axes exist, the value of the axis that has been stopped the longest among
them is returned.
(5) This variable only reads the data.
4-376 Detailed explanation of Robot Status Variable
Specifies the numerical variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' The time until the warm-up operation status is set again is entered in M1.
Page 502, "5.19 Warm-Up Operation