4-293 Detailed explanation of Robot Status Variable
4MELFA-BASIC IV
M_Spd/M_NSpd/M_RSpd
[Function]
Returns the speed information during XYZ and JOINT interpolation.
M_Spd : Currently set speed.
M_NSpd : Initial value (optimum speed control).
M_RSpd : Directive speed.
[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_Spd ' M1 will contain the currently set speed.
2 Spd M_NSpd ' Reverts the speed to the optimum speed control mode.
[Explanation]
(1) M_RSpd returns the directive speed at which the robot is operating.
(2) This can be used in M_RSpd multitask programs or with Wth and WthIf statements.
(3) This variable only reads the data.
M_Svo
[Function]
Returns the current status of the servo power supply.
1 : Servo power ON
0 : Servo power OFF
[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 M1=M_Svo(1) ' M1 will contain the current status of the servo power supply.
[Explanation]
(1) The status of the robot's servo can be checked.
(2) This variable only reads the data.
Example)<Numeric Variable>=M_Spd [(<Equation>)]
Example)<Numeric Variable>=M_NSpd [(<Equation>)]
Example)<Numeric Variable>=M_RSpd [(<Equation>)]
Example)<Numeric Variable>=M_Svo [(<Mechanism Number>)]
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