4MELFA-BASIC IV
Detailed explanation of Robot Status Variable 4-290
M_RDst
[Function]
Returns the remaining distance to the target position (in mm) 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_RDst<10 M_Out(10)=1 ' The output signal 1 will turn ON when the remaining dis-
tance until the target position is reached becomes 10
mm or less 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.
M_Run
[Function]
Returns whether the program for the specified task slot is being executed.
1 : Executing.
0 : Not executing (paused or stopped).
[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_Run(2) ' M1 will contain the execution status of slot 2.
[Explanation]
(1) This will contain 1 if the specified slot is running, or 0 if the slot is stopped (or paused).
(2) Combine M_Run and M_Wai to determine if the program has stopped (in case the currently executed
line is the top line).
(3) This variable only reads the data.
Example)<Numeric Variable>=M_RDst [(<Equation>)]
Example)<Numeric Variable>=M_Run [(<Equation>)]
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