Mitsubishi Electric CR750-Q Instruction Manual page 347

M_CmpLmt
[Function]
Returns whether or not the command value when the compliance function is being executed is about to
exceed various limits.
1: The command value is about to exceed a limit.
0: The command value is not about to exceed a limit.
[Format]
Example) Def Act 1, M_CmpLmt [(<Mechanism Number>)]=1 GoTo *Lmt
[Terminology]
<Mechanism Number>
[Reference Program]
1 Def Act 1, M_CmpLmt(1)=1 GoTo *Lmt
2 '
3 '
;
10 Mov P1
11 CmpG 1,1,0,1,1,1,1,1
12 Cmp Pos, &B100
13 Act 1=1
14 Mvs P2
15
16
;
100 *Lmt
101 Mvs P1
102 Reset Err
103 Hlt
[Explanation]
(1) This is used to recover from the error status by using interrupt processing if an error has occurred while
the command value in the compliance mode attempted to exceed a limit.
(2) For various limits, the joint operation range and operation speed of the command value in the compli-
ance mode, and the dislocation between the commanded position and the actual position are checked.
(3) 0 is set if the servo power is off, or the compliance mode is disabled.
(4) This is a read only variable.
Specify the mechanism number 1 to 3. The default value is 1.
' Define the conditions of interrupt 1.
' Enable compliance mode.
' Enable interrupt 1.
'
'
'
' Movement to P2 is interrupted and returns to P1.
' Reset the error.
' Execution is stopped.
Detailed explanation of Robot Status Variable 4-327
4MELFA-BASIC V