Mitsubishi CRn-500 Series Instruction Manual page 78

8.User Mechanism Settings, Operation, and Commands
The following shows a list of status variables, built-in functions and instruction languages that can be
used without any problems
(1) Robot status variables that operate without any problem in the user mechanism
Array designation
Variable
name
P_CURR Mechanism No.(1 to 3) Current position (XYZ)
P_FBC Mechanism No.(1 to 3) XYZ position generated based on the feedback
P_TOOL Mechanism No.(1 to 3) Currently designated tool conversion data
P_BASE Mechanism No.(1 to 3) Currently designated base conversion data
P_NTOOL Mechanism No.(1 to 3) System default value (tool conversion data)
P_NBASE Mechanism No.(1 to 3) System default value (base conversion data)
M_OPOVRD None
M_OVRD Slot No.(1to 32)
M_JOVRD Slot No.(1to 32)
M_NOVRD Slot No.(1to 32)
M_NJOVRD Slot No.(1to 32)
M_SKIPCQ Slot No.(1to 32)
M_ACL Slot No.(1to 32)
M_DACL Slot No.(1to 32)
M_NACL Slot No.(1to 32)
M_NDACL Slot No.(1to 32)
M_ACLSTS Slot No.(1to 32)
M_RUN Slot No.(1to 32)
M_WAI Slot No.(1to 32)
M_PSA Slot No.(1to 32)
M_CYS Slot No.(1to 32)
M_CSTP None
C_PRG Slot No.(1to 32)
M_LINE Slot No.(1to 32)
M_ERR None
M_ERRLVL None
M_ERRNO None
64
Note1)
value from the servo
Current speed override on the operation panel
(0 to 100%)
Current override in designated program
(0 to 100%)
Current joint override
(0 to 100%)
System default value
(default value of M_OVRD) (%)
System default value
(default value of M_JOVRD) (%)
A value of 1 is input if execution of an
instruction is skipped as a result of executing
the line that includes the last executed SKIP
command, otherwise a value of 0 is input.
Current specified acceleration rate (%)
Current specified deceleration rate (%)
System default value
（ default value of M_ACL ）（ % ）
System default value
（ default value of M_DACL ）（ % ）
Current acceleration/deceleration status
0 = Stopped, 1 = Accelerating, 2 = Constant
speed, 3=Decelerating
Operation status
(1: Operating, 0: Not operating)
Pause status (1: Pausing, 0: Not pausing)
Specifies whether or not the program selection
is possible in the specified task slot. (1:
Selection possible, 0: Selection not possible, in
pause status)
Cycle operation status
(1: Cycle operation, 0: Non-cycle operation)
Cycle stop operation status
(1: Cycle stop, 0: Not cycle stop)
Execution program name
Currently executed line No.
Error occurring (1: An error has occurred, 0: No
errors have occurred)
Reads an error level. caution/low/high1/high2
＝ 1/2/3/4
Reads an error number.
Details
Attribute
Data type, Unit
Note2)
Position type
Ｒ
Position type
Ｒ
Position type
Ｒ
Position type
Ｒ
Position type
Ｒ
Position type
Ｒ
Integer type, %
Ｒ
Integer type, %
Ｒ
Integer type, %
Ｒ
Single-precision real
Ｒ
number type, %
Single-precision real
Ｒ
number type, %
Integer type
Ｒ
Single-precision real
Ｒ
number type, %
Single-precision real
Ｒ
number type, %
Single-precision real
Ｒ
number type, %
Single-precision real
Ｒ
number type, %
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Character string type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ
Integer type
Ｒ