Mitsubishi CR750 Series Instruction Manual page 143

SetMoTrg (Set Mo trigger)
[Function]
Enables/disables trigger conditions (Mo trigger) that reference position commands and the FB position, as
well as force sensor data and so on.
[Syntax]
SetMoTrg <Trigger No.>
[Terminology]
<Trigger No.>
[Example]
1 Def MoTrg 1, ((P_Fbc.Z <= 100) Or (P_FsCurD.Z >= 10)) And (P_FsCurP.C < -45DEG)
2 SetMoTrg 1
:
:
100 SetMoTrg 0
[Description]
(1) The Mo trigger is enabled/disabled with this command.
(2) It is not possible to enable multiple Mo triggers simultaneously. If this command is executed consecutively,
the Mo trigger enabled last is applied.
(3) When performing force sense control characteristics change processing (FsCTrg command) using an Mo
trigger, it is not possible to enable the Mo trigger with this command. An error occurs when running the
program. (Error L.3987)
The Mo trigger can be disabled.
(4) If the specified Mo trigger No. has not been defined, an error occurs when running the program. (Error
L3770)
(5) If an End command is executed for the slot for which the trigger is enabled with this command, or if the
program reset operation is performed, the Mo trigger will be disabled.
(6) Mo trigger conditions are defined for the robot. Unlike the Def Act command, if a sub-program is called with
the CallP command, or if mechanical control rights are moved to another slot with the GetM or RelM
commands, the Mo trigger conditions continue to apply.
Specifies the trigger No. for the Mo trigger to be enabled with a constant.
If 0 is specified, the Mo. Trigger is disabled.
Setting range: 0 - 3
' Enables Mo trigger No.1.
' Disables the Mo trigger.
Commands Relating to Force Sense Detection Function 11-133
11 Language Specifications