Mitsubishi Electric CR750-Q Instruction Manual page 385

(4) M_SplVar returns the value according to the states shown in
Table 4-33: Value returned by M_SplVar
Immediately after power ON
During spline interpolation execution
When passing through path point set to "–1"
After spline interpolation
Immediately after main program's END
command is executed
Immediately after program reset operation
Immediately after value is read into
M_SplVar
Mechanism not compatible with spline inter-
polation
(5) A random value between 0 and 32767 can be set by writing to M_SplVar. That value is held until the
value is changed with spline interpolation or other operations/processes.
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.
Status
0
Value corresponding to progress of spline inter-
polation (Value set in spline file)
Value at that time is continuously applied
Value at end of spline interpolation
0
0
Written value
0 (0 even after write is executed)
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.
Table 4-33.
Value returned by M_SplVar
Detailed explanation of Robot Status Variable 4-365
4MELFA-BASIC V