4-156 Robot status variables
4MELFA-BASIC V
28 M_Wuprt Mechanism No.(1 to 3)
Time until the warm-up operation status is
canceled (sec.)
R Single-precision
real number type,
sec
375
29 M_Wupst Mechanism No.(1 to 3)
Time until the warm-up operation status is set
again (sec.)
R Single-precision
real number type,
sec
376
30 M_Ratio Slot No.(1to 32)
Fraction of the current movement left before
reaching the target position (%)
R Integer type, % 357
31 M_RDst Slot No.(1to 32)
Remaining distance left of the current movement
(only the three dimensions of X, Y, and Z are taken
into consideration: mm)
R Single-precision
real number type,
mm
359
32 M_Spd Slot No.(1to 32)
Current specified speed (valid only for linear/
circular interpolation)
R Single-precision
real number type,
mm/s
362
33 M_NSpd Slot No.(1to 32)
System default value (default value of M_Spd)
(mm/s)
R Single-precision
real number type,
mm/s
362
34 M_RSpd Slot No.(1to 32)
Current directive speed (mm/s) R Single-precision
real number
type,mm/s
362
35 M_Acl Slot No.(1to 32) Current specified acceleration rate (%)
R Single-precision
real number type, %
322
36 M_DAcl Slot No.(1to 32) Current specified deceleration rate (%)
R Single-precision
real number type, %
322
37 M_NAcl Slot No.(1to 32)
System default value (default value of M_Acl) (%) R Single-precision
real number type, %
322
38 M_NDAcl Slot No.(1to 32)
System default value (default value of M_DAcl)
(%)
R Single-precision
real number type, %
322
39 M_AclSts Slot No.(1to 32)
Current acceleration/deceleration status
0 = Stopped, 1 = Accelerating, 2 = Constant
speed, 3=Decelerating
R Integer type 322
40 M_SetAdl Axis No.(1 to 8)
Specify the acceleration/deceleration time ratio
(%) of each axis.
RW Single-precision
real number type, %
360
41 M_LdFact Axis No.(1 to 8)
The load factor of the servo motor of each axis.
(%)
R Single-precision
real number type, %
345
42 M_Run Slot No.(1to 32)
Operation status (1: Operating, 0: Not operating) R Integer type 359
43 M_Wai Slot No.(1to 32)
Pause status (1: Pausing, 0: Not pausing) R Integer type 373
44 M_Psa Slot No.(1to 32)
Specifies whether or not the program selection is
possible in the specified task slot. (1: Selection
possible, 0: Selection not possible, in pause
status)
R Integer type 356
45 M_Cys Slot No.(1to 32)
Cycle operation status (1: Cycle operation, 0: Non-
cycle operation)
R Integer type 329
46 M_Cstp None
Cycle stop operation status (1: Cycle stop, 0: Not
cycle stop)
R Integer type 329
47 C_Prg Slot No.(1to 32)
Execution program name R Character string
type
314
48 M_Line Slot No.(1to 32)
Currently executed line No. R Integer type 347
49 M_SkipCq Slot No.(1to 32)
A value of 1 is input if execution of an instruction is
skipped as a result of executing the line that
includes the last executed Skip command,
otherwise a value of 0 is input.
R Integer type 361
50 M_BrkCq None
Result of the BREAK instruction
(1: BREAK, 0: None)
R Integer type 324
51 M_Err None
Error occurring (1: An error has occurred, 0: No
errors have occurred)
R Integer type 334
No
Variable
name
Array designation
Note1)
Details
Attribute
Note2)
Data type, Unit Page
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