4MELFA-BASIC IV
Detailed explanation of Robot Status Variable 4-300
M_Wuprt
[Function]
Returns the time (sec) during which a target axis must operate to cancel the warm-up operation status.
Note: For more information about the warm-up operation mode, see Page 390, "5.19 Warm-Up Operation
Mode" for detail.
[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_Wuprt(1) ' The time during which a target axis must operate is entered in M1.
[Explanation]
(1) This is used to confirm when the warm-up operation status can be canceled after how long more the joint
axis specified in the WUPAXIS parameter (warm-up operation mode target axis) operates when the
robot is in the warm-up operation status (the status in which operation is performed by automatically
reducing the speed).
(2) If the warm-up operation mode is disabled, 0 is always returned.
(3) If the normal status changes to the warm-up operation status, or the warm-up operation status is set
immediately after power on, the time specified in the first element (the valid time of the warm-up opera-
tion mode) of the WUPTIME parameter is set as the initial value, and the value of M_Wuprt decreases
according to the operation of the robot. And when the value is set to 0, the warm-up operation status is
canceled.
(4) If a multiple number of target axes in warm-up operation mode exist, the value of the axis with the short-
est operation time among them is returned.
For example, when a target axis (A) operates and the warm-up operation status is canceled in remain-
ing 20 seconds (when M_Wuprt = 20), if another target axis (B) that has continuously been stopped
changes from the normal status to the warm-up operation status, (B) becomes the axis with the shortest
operation time (operation time of 0 sec). Therefore, the time during which (B) must operate (= the valid
time of the warm-up operation mode, initial value is 60 sec) becomes the value of this status variable
(M_Wuprt = 60).
(5) This variable only reads the data.
Example)<Numeric Variable> = M_Wuprt [(<Mechanism Number>)]
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