3 MELFA Smart Plus card
Robot language specification 3-11
M_SmartPlus
[Function]
Refer to the available status of each function of MELFA Smart Plus.
[Format]
<Numeric variable> = M_SmartPlus(<ID>)
[Terminology]
<Numeric variable> Specify numerical variable to assign.
0 : Disabled
1 : Enabled
<ID> Specify the function ID.
1 : Calibration assistance function
2 : Robot mechanism temperature compensation function
3 : Coordinated control for additional axes
4 : Preventive maintenance function
101 : Extended function of MELFA-3D Vision
102 : Predictive maintenance function
103 : Extended function of force sensor
[Reference Program]
1 M1 = M_SmartPlus(1) ' Refer to the available state of the calibration assistance function.
[Explanation]
(1) Refers to the available status of the MELFA Smart Plus function specified by <ID>.
(2) It is read-only.
(3) When "2" (robot mechanism temperature compensation function) is specified in <ID>, "0" (unavailable)
will be returned if the origin has not been set even when a supported MELFA Smart Plus card has been
inserted.
(4) When "2" (robot mechanism temperature compensation function) is specified in <ID>, "0" (unavailable)
will be returned if parameter MTCENA is set to "0" (disabled) even when a supported MELFA Smart Plus
card has been inserted.
(5) When "4" (preventive maintenance function) is specified in <ID>, "0" (unavailable) will be returned if
parameter PMENA is set to "0" (disabled) even when a supported MELFA Smart Plus card has been
inserted.
(6) When "102" (predictive maintenance function) is specified in <ID>, "0" (unavailable) will be returned if
parameter PMENA is set to "0" (disabled) even when a supported MELFA Smart Plus card has been
inserted.
(7) When the preventive maintenance function and predictive maintenance function are both enabled with the
MELFA Smart Plus card pack, only the dominant predictive maintenance function will be "1"(available).
The preventive maintenance function will be "0" (unavailable).
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