4-275 Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
M_CmpLmt
[Function]
Returns whether or not the command value when the compliance function is being executed is about to
exceed various limits.
1: The command value is about to exceed a limit.
0: The command value is not about to exceed a limit.
[Format]
[Terminology]
<Mechanism Number> Specify the mechanism number 1 to 3. The default value is 1.
[Reference Program]
1 Def Act 1, M_CmpLmt(1)=1 GoTo *Lmt ' Define the conditions of interrupt 1.
2 '
3 '
;
10 Mov P1
11 CmpG 1,1,0,1,1,1,1,1
12 Cmp Pos, &B100 ' Enable compliance mode.
13 Act 1=1 ' Enable interrupt 1.
14 Mvs P2 '
15 '
16
;'
100 *Lmt
101 Mvs P1 ' Movement to P2 is interrupted and returns to P1.
102 Reset Err ' Reset the error.
103 Hlt ' Execution is stopped.
[Explanation]
(1) This is used to recover from the error status by using interrupt processing if an error has occurred while
the command value in the compliance mode attempted to exceed a limit.
(2) For various limits, the joint operation range and operation speed of the command value in the compli-
ance mode, and the dislocation between the commanded position and the actual position are checked.
(3) 0 is set if the servo power is off, or the compliance mode is disabled.
(4) This is a read only variable.
Example) Def Act 1, M_CmpLmt [(<Mechanism Number>)]=1 GoTo *Lmt
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