Robot Status Variables - Mitsubishi MELFA CR1D Instruction Manual

4.3.26 Robot status variables

The available robot status variables are shown in
application are predetermined.
The robot status can be checked and changed by using these variables.
Table 4-8:Robot status variables
Variable
No
name
1 P_Curr Mechanism No.(1 to 3)
2 J_Curr Mechanism No.(1 to 3)
3 J_ECurr Mechanism No.(1 to 3)
4 J_Fbc Mechanism No.(1 to 3)
5 J_AmpFbc Mechanism No.(1 to 3)
6 P_Fbc Mechanism No.(1 to 3)
7 M_Fbd Mechanism No.(1 to 3)
8 M_CmpDst Mechanism No.(1 to 3)
9 M_CmpLmt Mechanism No.(1 to 3)
10 P_Tool Mechanism No.(1 to 3)
11 P_Base Mechanism No.(1 to 3)
12 P_NTool Mechanism No.(1 to 3)
13 P_NBase Mechanism No.(1 to 3)
14 M_Tool Mechanism No.(1 to 3)
15 J_ColMxl Mechanism No.(1 to 3)
16 M_ColSts Mechanism No.(1 to 3)
17 P_ColDir Mechanism No.(1 to 3)
18 M_OPovrd None
19 M_Ovrd Slot No.(1to 32)
20 M_JOvrd Slot No.(1to 32)
21 M_NOvrd Slot No.(1to 32)
22 M_NJovrd Slot No.(1to 32)
23 M_Wupov Mechanism No.(1 to 3)
24 M_Wuprt Mechanism No.(1 to 3)
25 M_Wupst Mechanism No.(1 to 3)
26 M_Ratio Slot No.(1to 32)
27 M_RDst Slot No.(1to 32)
Array designation
Note1)
Current position (XYZ)
Current position (joint)
Current encoder pulse position
Joint position generated based on the feedback
value from the servo
Current feedback value
XYZ position generated based on the feedback
value from the servo
Distance between commanded position and
feedback position
Amount of difference between a command value
and the actual position when the compliance
function is being performed
This is used to recover from the error status by
using interrupt processing when an error has
occurred while the command value in the
compliance mode attempted to exceed the limit.
Currently designated tool conversion data
Currently designated base conversion data
System default value (tool conversion data)
System default value (base conversion data)
Tool No. (1 to 4)
Difference between estimated torque and actual
torque
Impact detection status (1: Colliding, 0: Others)
Movement direction at collision
Speed override on the operation panel (0 to 100%)
Override in currently designated program (0 to
100%)
Currently designated joint override (0 to 100%)
System default value (default value of M_Ovrd)
(%)
System default value (default value of M_JOvrd)
(%)
Warm-up operation override (50 to 100%)
Time until the warm-up operation status is
canceled (sec.)
Time until the warm-up operation status is set
again (sec.)
Fraction of the current movement left before
reaching the target position (%)
Remaining distance left of the current movement
(only the three dimensions of X, Y, and Z are taken
into consideration: mm)
Table 4-8. As shown in the table, the variable name and
Details
Detailed specifications of MELFA-BASIC V 4-140
4MELFA-BASIC IV
Attribute
Data type, Unit
Note2)
R Position type
R Joint type
R Joint type
R Joint type
R Joint type
R Position type
R Position type
R Single-precision
real number type,
mm
R Integer type
R Position type
R Position type
R Position type
R Position type
RW Integer type
R Joint type, %
R Integer type
R Position type
R Integer type, %
R Integer type, %
R Integer type, %
R Single-precision
real number type, %
R Single-precision
real number type, %
R Single-precision
real number type, %
R Single-precision
real number type,
sec
R Single-precision
real number type,
sec
R Integer type, %
R Single-precision
real number type,
mm
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