4MELFA-BASIC V
Robot status variables 4-155
4.6 Robot status variables
The available robot status variables are shown in Table 4-9. As shown in the table, the variable name and
application are predetermined.
The robot status can be checked and changed by using these variables.
Table 4-9:Robot status variables
No
Variable
name
Array designation
Note1)
Details
Attribute
Note2)
Data type, Unit Page
1 P_Curr Mechanism No.(1 to 3)
Current position (XYZ) R Position type
386
2 J_Curr Mechanism No.(1 to 3)
Current position (joint) R Joint type
316
3 J_ECurr Mechanism No.(1 to 3)
Current encoder pulse position R Joint type
320
4 J_Fbc Mechanism No.(1 to 3)
Joint position generated based on the feedback
value from the servo
R Joint type 321
5 J_AmpFbc Mechanism No.(1 to 3)
Current feedback value R Joint type 321
6 P_Fbc Mechanism No.(1 to 3)
XYZ position generated based on the feedback
value from the servo
R Position type 389
7 M_Fbd Mechanism No.(1 to 3)
Distance between commanded position and
feedback position
R Position type 336
8 M_CmpDst Mechanism No.(1 to 3)
Amount of difference between a command value
and the actual position when the compliance
function is being performed
R Single-precision
real number type,
mm
326
9 M_CmpLmt Mechanism No.(1 to 3)
This is used to recover from the error status by
using interrupt processing when an error has
occurred while the command value in the
compliance mode attempted to exceed the limit.
R Integer type 327
10 P_Tool Mechanism No.(1 to 3)
Currently designated tool conversion data R Position type 392
11 P_Base Mechanism No.(1 to 3)
Currently designated base conversion data R Position type 382
12 P_NTool Mechanism No.(1 to 3)
System default value (tool conversion data) R Position type 392
13 P_NBase Mechanism No.(1 to 3)
System default value (base conversion data) R Position type 382
14 M_Tool Mechanism No.(1 to 3)
Tool No. (1 to 16) RW Integer type 367
15 J_ColMxl Mechanism No.(1 to 3)
Difference between estimated torque and actual
torque
R Joint type, % 317
16 M_ColSts Mechanism No.(1 to 3)
Collision detection status (1: Colliding, 0: Others) R Integer type 328
17 P_ColDir Mechanism No.(1 to 3)
Movement direction at collision R Position type 384
18 P_CordR Mechanism No.(1 to 3)
In interference avoidance function, The robot’s
base coordinate system origin point looking from
common coordinate system.
R Position type 385
19 P_CurrR Mechanism No.(1 to 3)
In interference avoidance function, Local robot’s
current position looking from the common
coordinate system.
R Position type 387
20 M_Cavsts Mechanism No.(1 to 3)
In interference avoidance function, The CPU
number of interfering robot when interference is
detected.
RW Integer type 325
21 P_CavDir Mechanism No.(1 to 3)
In interference avoidance function, The direction
which the robot was moving when interference is
detected.
R Position type 383
22 M_OPOvrd None
Speed override on the operation panel (0 to 100%) R Integer type, % 344
23 M_Ovrd Slot No.(1to 32)
Override in currently designated program (0 to
100%)
R Integer type, % 344
24 M_JOvrd Slot No.(1to 32)
Currently designated joint override (0 to 100%) R Integer type, % 344
25 M_NOvrd Slot No.(1to 32)
System default value (default value of M_Ovrd)
(%)
R Single-precision
real number type, %
344
26 M_NJovrd Slot No.(1to 32)
System default value (default value of M_JOvrd)
(%)
R Single-precision
real number type, %
344
27 M_Wupov Mechanism No.(1 to 3)
Warm-up operation override (50 to 100%) R Single-precision
real number type, %
374
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