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

Robot (system) status variables 154
13.3.4. Notification
M_PMRptDrv: Notification pause status (reduction gear)
[Function]
Returns the stop status of warning / signal output, of abnormality detection of reduction gear of the
specified axis.
[Format]
Example) <Numeric variable> = M_PMRptDrv<Axis number>
[Terminology]
<Numeric variable> Specify the numeric variable to assign.
<Axis number> Specify the joint axis for which to get a log. (1 to 6)
When omitted, 1 is used.
[Sample]
1 M1 = M_PMRptDrv(1) 'The notification method of abnormality detection of the reduction gear of the
J1 axis is set in M1.
[Explanation]
(1) Returns the pause status of warning occurrence/warning signal output, which occurs due to
abnormality detection of the reduction gear including the reduction gear of the joint axis specified in
<Axis number> of the robot body (mechanism 1). (1/0 = Enable/Disable)
(2) This variable is read only.
(3) Returns "-1" when the predictive maintenance function is disabled.
(4) Returns "0" when the joint axis does not exist.
(5) Returns "0" when the joint axis does not have the target parts.