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(2) Function Details
1)Parameters, Dedicated I/O Signals and Status Variables of the Warm-Up Operation Mode
The following parameters, dedicated I/O signals and status variables have been added in the warm-up operation
mode. Refer to
Page 343, "5.1
MELFA-BASIC V" for details.
Table 5-14:Parameter List of the Warm-Up Operation Mode
Parameter name
WUPENA
Designate the valid/invalid of the Warm-up operation mode.
0:Invalid/ 1: Valid
WUPAXIS
Specify the joint axis that will be the target of control in the warm-up operation mode by selecting bit ON or
OFF in hexadecimal (J1, J2, Åc from the lower bits).
Bit ON: Target axis/ Bit OFF: Other than target axis
WUPTIME
Specify the time (unit: min.) to be used in the processing of warm-up operation mode. Specify the valid time in
the first element, and the resume time in the second element.
Valid time: Specify the time during which the robot is operated in the warm-up operation status and at a
Resume time: Specify the time until the warm-up operation status is set again after it has been canceled if a
WUPOvrd
Perform settings pertaining to the speed in the warm-up operation status. Specify the initial value in the first
element, and the value constant time in the second element. The unit is % for both.
Initial value: Specify the initial value of an override (warm-up operation override) to be applied to the operation
Ratio of value constant time: Specify the duration of time during which the override to be applied to the opera-
Table 5-15:Dedicated I/O Signal List of Warm-Up Operation Mode
Parameter name
MnWUPENA (n=1t o 3)
(Operation right required)
MnWUPMD(n=1 to 3)
Table 5-16:Status Variable of Warm-Up Operation Mode
Status variable
M_Wupov
M_Wuprt
M_Wupst
Movement parameter" ,
reduced speed. (Setting range: 0 to 60)
target axis continues to stop. (Setting range: 1 to 1440)
speed when in the warm-up operation status. (Setting range: 50 to 100)
tion speed when in the warm-up operation status does not change from the ini-
tial value, using the ratio to the valid time. (Setting range: 0 to 50)
Class
Input
Enables the warm-up operation mode of each mechanism. (n: FMechanism No.)
Output
Outputs that the warm-up operation mode is currently enabled. (n: FMechanism No.)
Output
Outputs that the status is the warm-up operation status, and thus the robot will operate at a
reduced speed. (n: FMechanism No.)
Returns the value of an override (warm-up operation override) to be applied to the command speed in
order to reduce the operation speed when in the warm-up operation status.
Returns the time during which a target axis in the warm-up operation mode must operate to cancel the
warm-up operation status.
Returns the time until the warm-up operation status is set again after it has been canceled.
Page 416, "6.3 Dedicated input/output"
Description and value
Function
Function
5Functions set with parameters
and
Page 87, "4
Warm-Up Operation Mode 5-392
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