Mitsubishi Electric CR800-D Series User Manual page 124

M_PMCsmGrs: Consumption degree (grease)
[Function]
Returns the consumption degree of the grease of the specified axis. [%]
[Format]
Example) <Numeric variable> = M_PMCsmGrs(<Axis number>)
[Terminology]
<Numeric variable> Specify the numeric variable to assign.
<Axis number>
When omitted, 1 is used.
[Sample]
1 M1 = M_PMCsmGrs(1)
[Explanation]
(1) Returns the consumption degree (unit: %) of the grease of each joint axis of the robot body
(mechanism 1).
(2) This variable is read only.
(3) Returns "-1" when the predictive/preventive maintenance function is disabled.
(4) Returns "0" when a nonexistent axis is specified in <Axis number>.
(5) Returns "0" for joint axes that do not require grease replenishing.
Robot (system) status variables 122
Specify the joint axis to get the cumulative rotation count. (1 to 6)
'The consumption degree of the grease for the J1 axis is set in M1.