Mitsubishi MELFA CR1D - Page 302

4-289 Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
M_Psa
[Function]
Returns whether the program is selectable by the specified task slot.
1 : Program is selectable.
0 : Program not selectable (when the program is paused).
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
<Equation> 1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
[Reference Program]
1 M1=M_Psa(2) ' M1 will contain the program selectable status of task slot 2.
[Explanation]
(1) Returns whether the program is selectable by the specified task slot.
(2) This variable only reads the data.
M_Ratio
[Function]
Returns how much the robot has approached the target position (0 to 100%) while the robot is moving.
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
<Equation> 1 to 32, Specifies the task slot number. If this parameter is omitted, the current
slot will be used as the default.
[Reference Program]
1 Mov P1 WthIf M_Ratio>80, M_Out(1)=1' The output signal 1 will turn ON when the robot has moved
80% of the distance until the target position is reached
while moving toward P1.
[Explanation]
(1) This is used, for instance, when performing a procedure at a specific position while the robot is moving.
(2) This variable only reads the data.
Example)<Numeric Variable>=M_Psa [(<Equation>)]
Example)<Numeric Variable>=M_Ratio [(<Equation>)]