Robot (System) State Variables; List Of Robot (System) State Variables; Explanations Of Robot (System) State Variables - Mitsubishi Electric CR800-R Instruction Manual

5 ROBOT (SYSTEM) STATE VARIABLES

5. ROBOT (SYSTEM) STATE VARIABLES
The table below shows state variables that are related to the safety communication function and safety monitoring
functions.

5.1 List of Robot (System) State Variables

Name of Number of
variable array
elements
M_SCNSts None
M_SCNI SCNI
number
(1 to 8)
M_SfIArea AREA
number
(1 to 3)
M_SCNILogic LOGIC
number
(1 to 3)
M_SCNO SCNO
number
(1 to 4)
M_SfSts Function
number
(1 to 12)
M_SlpPreStp None
* Attribute R: Read-only

5.2 Explanations of Robot (System) State Variables

M_SCNSts
[Function]
Whether safety connection is established is returned.
Disconnected/function disabled: 0
Waiting for connection establishment: 1
Established: 2
[Format]
Example) <Numerical variable> = M_SCNSts
[Terminology]
<Numerical variable>
[Reference Program]
M1 = M_SCNSts
[Explanation]
(1) Whether safety connection is established is returned.
(2) Read-only.
(3) When the function is disabled, "0" is returned.
5-78 List of Robot (System) State Variables
Table 5-1 Safety connection status (state variables)
Description
Safety connection status
(0: Disconnected, 1: Waiting for
connection establishment, 2:
Established)
Safety communication function's safety
input SCNIn
(1: OFF, 0: ON)
AREA input status
(1: Enable, 0: Disable)
Safety communication function's SCNI
and area input's logic input LOGICn
(1: OFF, 0: ON)
Safety communication function's safety
output SCNOn
(1: ON, 0: OFF)
Execution states of safety functions
(1: Enable, 0: Disable)
SLP pre-stop status
This specifies a numerical variable to which a value is to be assigned.
'Whether safety connection is established is stored in M1.
Attribute Data type
and unit
R Integer
type
R Integer
type
R Integer
type
R Integer
type
R Integer
type
R Integer
type
R Integer
type
Reference
5.2
5.2
5.2
5.2
5.2
5.2
5.2