Mitsubishi Electric CR800-D Series, User Manual

Page: 153 / 194

Robot (system) status variables 151
M_PMStsEnc1: Abnormality detection status (encoder data abnormality)
[Function]
Returns the abnormality detection status of encoder data error of the specified axis.
[Format]
Example) <Numeric variable> = M_PMStsEnc1(<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_PMStsEnc1(1) 'The abnormality detection status of encoder data abnormality of the J1 axis
is set in M1.
[Explanation]
(1) Returns the abnormality detection status of the reduction gear of each joint axis of the robot body
(mechanical 1).
0 : The score is 0 or greater, less than the detection level
1 : The score is at the detection level or higher
(2) The abnormality detection status is retained once it exceeds the detection level until maintenance
reset (for the encoder) of the target axis is performed.
(3) The detection level can be specified by the "PMWNGEN1" parameter.
(4) This variable is read only.
(5) Returns "-1" when the predictive maintenance function is disabled.
(6) Returns "0" when a nonexistent axis is specified in <Axis number>.
(7) Returns "0" when the joint axis does not have the target parts.
[Related system status variables]
M_PMScrEnc1