Mitsubishi MELFA CR1D Instruction Manual page 297

M_LdFact
[Function]
The load ratio for each joint axis can be referenced.
[Format]
Example)<Numeric Variable>=M_LdFact(<Axis Number>)
[Terminology]
<Numeric Variable> The load ratio of each axis is substituted. The range is 0 to 100%.
<Axis Number>
[Reference Program]
1 Accel 100,100
2 Mov P1
3 Mov P2
4 If M_LdFact(2)>90 Then
5 Accel 50,50
6 M_SetAdl(2)=50
7 Else
8 AccelL 100.,100
9 EndIf
10 GoTo 20
[Explanation]
(1) The load ratio of each axis can be referenced.
(2) The load ratio is derived from the current that flows to each axis motor and its flow time.
(3) The load ratio rises when the robot is operated with a heavy load in a severe posture for a long period of
time.
(4) When the load ratio reaches 100%, an overload error occurs. In the above example statement, once the
load ratio exceeds 90%, the k acceleration/deceleration time is lowered to 50%.
(5) To lower the load ratio, measures, such as decreasing the acceleration/deceleration time, having the
robot standing by in natural posture, or shutting down the servo power supply, are effective.
[Related instructions]
Accel (Accelerate), Ovrd (Override), M_SetAdl
1 to 8, Specifies the axis number.
' Lower the overall deceleration time to 50%.
' Lower the acceleration/deceleration ratio to 50%.
' Furthermore, lower the acceleration/deceleration ratio of the J2 axis to
50%. (In actuality, 50% x 50% = 25%)
' Return the acceleration/deceleration time.
Detailed explanation of Robot Status Variable 4-284
4MELFA-BASIC IV