Mitsubishi Electric CR750-Q Instruction Manual page 346

4MELFA-BASIC V
M_CmpDst
[Function]
Returns the amount of difference (in mm) between the command value and the actual value from the robot
when executing the compliance function.
[Format]
Example)<Numeric Variable>=M_CmpDst [(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 Mov P1
2 CmpG 0.5,0.5,1.0,0.5,0.5, , ,
3 Cmp Pos, &B00011011
4 Mvs P2
5 M_Out(10)=1
6 Mvs P1
7 M1=M_CmpDst(1)
8 Cmp Off
[Explanation]
(1) This is used to check the positional discrepancy while executing the compliance function.
(2) This variable only reads the data.
4-326 Detailed explanation of Robot Status Variable
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.
' Set softness.
' Enter soft state.
' M1 will contain the difference between the position specified by the
operation command and the actual current position.
' Return to normal state.