Mitsubishi Electric CR800-D Series - Robot (system) Status Variables; Abnormality Detection Status (Encoder Communication Abnormality)

Robot (system) status variables 150
13.3.3. Abnormality detection status
M_PMStsDrv: Abnormality detection status (reduction gear)
[Function]
Returns the abnormality detection status of reduction gear of the specified axis.
[Format]
Example) <Numeric variable> = M_PMStsDrv(<Axis number>)
[Terminology]
<Numeric variable> Specify the numeric variable to assign.
<Axis number> Specify the joint axis to get the cumulative rotation count. (1 to 6)
When omitted, 1 is used.
[Sample]
1 M1 = M_PMStsDrv(1) 'The abnormality detection status of the reduction gear of the J1 axis is set in M1.
[Explanation]
(1) Returns the abnormality detection status of the reduction gear including the reduction gear of each
joint axis of the robot body (mechanical 1).
0 : The score is 0 or greater, less than the detection level
1 : The score is at the detection level or higher
(2) The abnormality detection status is retained once it exceeds the detection level until it is powered on
or maintenance reset (other than the encoder) of the target axis is performed.
(3) The detection level can be specified by the "PMWNGDRV" parameter.
(4) This variable is read only.
(5) Returns "-1" when the predictive maintenance function is disabled.
(6) Returns "0" when a nonexistent axis is specified in <Axis number>.
(7) Returns "0" when the joint axis does not have the target parts.
[Related system status variables]
M_PMScrDrv