Mitsubishi Electric CR800-D Series, User Manual

Page: 150 / 194

Robot (system) status variables 148
M_PMScrEnc1: Score (encoder data abnormality)
[Function]
Returns the score of encoder data error of the specified axis.
[Format]
Example) <Numeric variable> = M_PMScrEnc1(<Axis number>)
[Terminology]
<Numeric variable> Specify the numeric variable to assign.
<Axis number> Specify the joint axis to get the cumulative rotation count. (1 to 6)
When omitted, 1 is used.
[Sample]
1 M1 = M_PMScrEnc1(1) 'The score of the encoder data abnormality of the J1 axis is set in M1.
[Explanation]
(1) Returns the score of encoder data abnormality of each joint axis of the robot body (mechanical 1).
(2) This variable is read only.
(3) Returns "-1" when the predictive maintenance function is disabled.
(4) Returns "0" when a nonexistent axis is specified in <Axis number>.
(5) The score value is the worst value from the time of the previous maintenance.
The worst value is retained until maintenance reset (for the encoder) of the target axis is performed.
[Related system status variables]
M_PMLogScr / C_PMLogEnc1