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4MELFA-BASIC IV
M_Err/M_ErrLvl/M_Errno
[Function]
Returns information regarding the error generated from the robot.
M_Err : Returns whether an error has been generated. (1: Error has been generated, 0: No error)
M_ErrLvl : Returns the level of the generated error. (Caution/Low/High1/High2 = 1/2/3/4)
M_Errno : Returns the error number of the generated error.
[Format]
Example) <Numeric Variable>=M_Err
Example) <Numeric Variable>=M_ErrLvl
Example) <Numeric Variable>=M_Errno
[Terminology]
<Numeric Variable>
[Reference Program]
1 If M_Err=0 Then 10
2 M2=M_ErrLvl
3 M3=M_Errno
[Explanation]
(1) Normal programs will pause when an error (other than cautions) is generated. The error status of the
controller may be monitored using this variable for programs whose startup condition is set to ALWAYS
by the SLT* parameter. The program set to ALWAYS will not stop even when an error is generated from
other programs.
(2) Level 1 errors are warnings, level 2 errors pause programs. Level 3 errors pause programs and turn the
servo power OFF, but error reset can be performed. Level 4 errors pause programs, turn the servo
power OFF, and error reset cannot be performed. Thus, when a level 4 error occurs, it is necessary to
turn the controller power OFF.
(3) This variable only reads the data.
[Related instructions]
Reset Err (Reset Error)
M_Exp
[Function]
Returns the base of natural logarithm (2.718281828459045).
[Format]
Example) <Numeric Variable>=M_Exp
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
[Reference Program]
1 M1=M_Exp
[Explanation]
(1) This is used when processing exponential and logarithmic functions.
(2) This variable only reads the data.
4-279 Detailed explanation of Robot Status Variable
Specifies the numerical variable to assign.
' Waits until an error is generated.
' M2 will contain the error level
' M3 will contain the error number.
' Base of natural logarithm (2.718281828459045) is assigned to M1.
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