Mitsubishi Electric CR750-D Series Instruction Manual page 52

Table 4-8: Details of Status Variable [Status Variable Monitor 1/2]
Variable Name
M_RDst
M_Ratio
M_RSpd
MvTune/Prec
M_Fbd
M_AclSts
Collision Detection Level
(ColLvl)
Collision Detection Setting
(ColChk）
Collision Detection Status
（M_ColSts）
Table 4-9: Details of Status Variable [Status Variable Monitor 2/2]
Variable Name
Compliance Coordinate
Type
Designated Compliance
Axis
Compliance Gain (CmpG)
Compliance Difference
(M_CmpOst)
Compliance Over Limit
(M_CmpLmt)
Unit Description
[mm] Remaining distance to the target position while the robot is in motion.
[%] Returns how much the robot has approached the target position (0 to
100%) while the robot is moving.
[mm/s] Current command speed
―
Currently-set operation characteristic mode
［1: Standard/2: High-speed positioning mode/3: Trajectory priority
mode/4: Vibration suppression］
[mm] Distance between the command position and feedback position
―
Current
[0=stop/1=acceleration/2=constant speed/3=deceleration]
[%] Detection level (sensitivity) of tolerance to impact of each joint axis
when program is running.
［Setting range 1 (most sensitive) – 500 (least sensitive)］
―
Setting status of the impact detection function
［ON(Error)/ON(No Error)/OFF］
* ON (Error): Outputs error in collision
ON (No Error): No error output in collision
―
Collision detection status
［1: Collision being detected/０: No collision detected］
Unit Description
―
Coordinate type of compliance function
［0: Joint coorcinate/1: XYZ corcinate/2: Tool］
―
Designated compliance axis
［Designates 6 axes 1: Valid/0: Invalid］
―
Gain value of compliance specified for each axis
(specified value of softness)
―
Travel distance between the command value and actual position
when executing the compliance function
―
Reports if the compliance function exceeds various limits
[1: About to exceed the limit/0: Not about to exceed the limit]
45
acceleration/deceleration status