Mitsubishi Electric CR800-D Series, User Manual

Page: 99 / 194

Robot (system) status variables 97
13.1.2. Abnormality detection function
*1) Attributes in the table, R: Read only
<Abnormality detection log>
Variable name Array
designation
Details Attribute
*1)
Data type,
Unit
Page
M_PMLogScr None Log data count of
abnormality detection log R Integer type 143
M_PMLogD Log No.(1 to 365)
Axis No.(1 to 9) Abnormality detection log
data (reduction gear) R Single-precision
real number type 144
M_PMLogE1 Log No.(1 to 365)
Axis No.(1 to 9) Abnormality detection log
data (encoder data
abnormality) R Single-precision
real number type 145
M_PMLogE2 Log No.(1 to 365)
Axis No.(1 to 9) Abnormality detection log
data (encoder
communication abnormality) R Single-precision
real number type 146
<Score>
Variable name Array
designation
Details Attribute
*1)
Data type,
Unit
Page
M_PMScrDrv Axis No.(1 to 8) Score (reduction gear) R Single-precision
real number type 147
M_PMScrEnc1 Axis No.(1 to 8) Score (encoder data
abnormality) R Single-precision
real number type 148
M_PMScrEnc2 Axis No.(1 to 8) Score (encoder
communication abnormality) R Single-precision
real number type 149
<Abnormality detection status>
Variable name Array
designation
Details Attribute
*1)
Data type,
Unit
Page
M_PMStsDrv
Axis No.(1 to 8) Abnormality detection status
(reduction gear) R Integer type 150
M_PMStsEnc1
Axis No.(1 to 8) Abnormality detection status
(encoder data abnormality) R Integer type 151
M_PMStsEnc2
Axis No.(1 to 8) Abnormality detection status
(encoder communication
abnormality) R Integer type 152
M_PMStsBat
None Abnormality detection status
(battery voltage status) R Integer type 153
<Notification>
Variable name Array
designation
Details Attribute
*1)
Data type,
Unit
Page
M_PMRptDrv Axis No.(1 to 8) Notification pause status
(reduction gear) R Integer type 154
M_PMRptEnc1 Axis No.(1 to 8) Notification pause status
(encoder data abnormality) R Integer type 155
M_PMRptEnc2 Axis No.(1 to 8) Notification pause status
(encoder communication
abnormality) R Integer type 156