Sample Ladder - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

7Read Robot Information

7.3.3 Sample Ladder

Here, describes a ladder example which reads the detailed error information occurred in the robot.
[Target function]
Read error information
[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
[Description]
Turn ON the error information read trigger (M130) to read the robot error information (first thee pieces of
information from start).
The read error information is stored in D403 and after.
When the read handling is completed, M134 is turned ON. In this case, successful completion turns
M132 ON and abnormal completion turns M133 ON.
When M134 is turned ON, turn OFF the error information read trigger (M130).
[Device details]
M130: Error information read trigger
M131: Error information received successfully
M132: Error information reception OK completed
M133: Error information reception NG completed
M134: Reading error information completed
D400: Received data from the robot (completion status)
D401: Received data from the robot (function number)
D402: Received data from the robot (start number)
D403 - D445: Received data from the robot (error information)
7-61 How to Operate Robot Information