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Detailed explanation of Robot Status Variable
M_Exp
[Function]
Returns the base of natural logarithm (2.718281828459045).
[Format]
[Terminology]
<Numeric Variable> Specifies the numerical variable to assign.
[Reference Program]
1 M1=M_Exp
' Base of natural logarithm (2.718281828459045) is assigned to M1.
[Explanation]
(1) This is used when processing exponential and logarithmic functions.
(2) This variable only reads the data.
M_Fbd
[Function]
Returns the difference between the command position and the feedback position.
[Format]
[Terminology]
<Numeric Variable>
Specifies the numerical variable to assign.
<Mechanism Number>
Specify the mechanism number 1 to 3. The default value is 1.
[Reference Program]
1 Def Act 1,M_Fbd>10 GoTo *SUB1,S
' Generate an interrupt when the difference between the
command position and the feedback position reaches 10
mm or more.
2 Act 1=1
' An interrupt takes effect.
3 Torq 3,10
' Set the torque limit of the three axes to 10% or less using
the torque instruction.
4 Mvs P1
' Moves.
5 End
;
10 *SUB1
11 Mov P_Fbc
' Align the command position with the feedback position.
12 M_Out(10)=1
' Signal No. 10 output
13 Hlt
' Stop when a difference occurs.
[Explanation]
(1) This function returns the difference between the command position specified by the operation instruction
and the feedback position from the motor. When using the torque instruction, use this in combination
with a Def Act instruction to prevent the occurrences of excessive errors (960, 970, etc.).
(2) This variable only reads the data.
[Reference]
Example) <Numeric Variable>=M_Exp
Example) <Numeric Variable>=M_Fbd[(<Mechanism Number>)]
