4MELFA-BASIC IV
Detailed explanation of Robot Status Variable 4-274
M_CmpDst
[Function]
Returns the amount of difference (in mm) between the command value and the actual value from the robot
when executing the compliance function.
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 Mov P1
2 CmpG 0.5,0.5,1.0,0.5,0.5, , , ' Set softness.
3 Cmp Pos, &B00011011 ' Enter soft state.
4 Mvs P2
5 M_Out(10)=1
6 Mvs P1
7 M1=M_CmpDst(1) ' M1 will contain the difference between the position specified by the
operation command and the actual current position.
8 Cmp Off ' Return to normal state.
[Explanation]
(1) This is used to check the positional discrepancy while executing the compliance function.
(2) This variable only reads the data.
Example)<Numeric Variable>=M_CmpDst [(<Mechanism Number>)]
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