4MELFA-BASIC V
Detailed explanation of Robot Status Variable 4-325
M_CavSts
[Function]
Returns the robot CPU number where an interference is predicted.
1 to 3: Interference predicted.
0: Interference not predicted.
This function is only available for certain models. For details, refer to Page 523, "5.24 Interference avoid-
ance function".
[Format]
[Terminology]
<Mechanism No.> Enter the mechanism number, 1 to 3. If the argument is omitted, 1 is set.
[Reference Program]
Refer to Page 543, "5.24.10 Sample programs".
[Explanation]
(1) When an interference between robots is predicted, the robot CPU number (1 to 3) where the interference
is predicted is written. When an interference with a free plane limit is predicted, 1 is written.
(2) The value is not cleared to 0 until an END command is executed. To clear the value to 0, use an interrupt
processing.
(3) The value is retained until the execution of the End command, program reset, or execution of "CavChk
Off" with the CavChk On (CavChk On) command (disables the stop function of the interference avoid-
ance function.)
(4) This command is used as an interrupt condition with the Def Act command in the NoErr mode operation.
(5) This command can be used to read and write.
Example) Def Act 1,M_CavSts [(<Mechanism No.>)] <> 0 GoTo *LCAV,S
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