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4MELFA-BASIC IV
M_Spd/M_NSpd/M_RSpd
[Function]
Returns the speed information during XYZ and JOINT interpolation.
M_Spd : Currently set speed.
M_NSpd : Initial value (optimum speed control).
M_RSpd : Directive speed.
[Format]
Example)<Numeric Variable>=M_Spd [(<Equation>)]
Example)<Numeric Variable>=M_NSpd [(<Equation>)]
Example)<Numeric Variable>=M_RSpd [(<Equation>)]
[Terminology]
<Numeric Variable>
<Equation>
[Reference Program]
1 M1=M_Spd
2 Spd M_NSpd
[Explanation]
(1) M_RSpd returns the directive speed at which the robot is operating.
(2) This can be used in M_RSpd multitask programs or with Wth and WthIf statements.
(3) This variable only reads the data.
M_Svo
[Function]
Returns the current status of the servo power supply.
1 : Servo power ON
0 : Servo power OFF
[Format]
Example)<Numeric Variable>=M_Svo [(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 M1=M_Svo(1)
[Explanation]
(1) The status of the robot's servo can be checked.
(2) This variable only reads the data.
4-293 Detailed explanation of Robot Status Variable
Specifies the numerical variable to assign.
1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
' M1 will contain the currently set speed.
' Reverts the speed to the optimum speed control mode.
Specifies the numerical variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' M1 will contain the current status of the servo power supply.
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