4-334
Detailed explanation of Robot Status Variable
M_Err/M_ErrLvl/M_Errno
[Function]
Returns information regarding the error generated from the robot.
M_Err : Error occurrence condition
M_ErrLvl : The level of the occurrence error
M_Errno : Error number
[Format]
[Terminology]
<Numeric Variable>
Specifies the numerical variable to assign.
The value assigned and meaning.
M_Err
: 0/1 = No error/Under error occurrence
M_ErrLvl : 0/1/2/3/4/5/6=No error / Caution / Low / High / Caution1
/ Low1 / High1
Note) The meaning of each terminology is shown in
M_ErrNo : Error number
[Reference Program]
1 *LBL: If M_Err=0 Then *LBL
' Waits until an error is generated.
2 M2=M_ErrLvl
' M2 will contain the error level
3 M3=M_Errno
' M3 will contain the error number.
[Explanation]
(1) Normal programs will pause when an error (other than cautions) is generated. The error status of the
controller may be monitored using this variable for programs whose startup condition is set to ALWAYS
by the SLT* parameter. The program set to ALWAYS will not stop even when an error is generated from
other programs.
(2) If two or more errors occur, returns the information on the high error of the error level most.
(3) The error level which M_ErrLvl returns, and its meaning are shown below.
Table 4-20:The error level and meaning
[Related instructions]
Example) <Numeric Variable>=M_Err
Example) <Numeric Variable>=M_ErrLvl
Example) <Numeric Variable>=M_Errno
Error level
Terminology
Meaning
Error reset
0
No error
The error has not occurred.
-
1
Caution
Program is continued.
[RESET] Key
2
Low
The program under execution is interrupted.
[RESET] Key
3
High
The program under execution is interrupted and turns off the servo
power.
[RESET] Key
4
Caution1
Program is continued.
Power supply reset
5
Low1
The program under execution is interrupted.
Power supply reset
6
High1
The program under execution is interrupted and turns off the servo
power.
Power supply reset
