Mitsubishi Electric CR800-R User Manual

5 ROBOT (SYSTEM) STATE VARIABLES
5-78 List of Robot (System) State Variables
5. ROBOT (SYSTEM) STATE VARIABLES
The table below shows state variables that are related to the safety communication function and safety monitoring
functions.
5.1 List of Robot (System) State Variables
Table 5-1 Safety connection status (state variables)
Name of
variable
Number of
array
elements
Description
Attribute
Data type
and unit
Reference
M_SCNSts
None
Safety connection status
(0: Disconnected, 1: Waiting for
connection establishment, 2:
Established)
R
Integer
type
5.2
M_SCNI
SCNI
number
(1 to 8)
Safety communication function's safety
input SCNIn
(1: OFF, 0: ON)
R
Integer
type
5.2
M_SfIArea
AREA
number
(1 to 3)
AREA input status
(1: Enable, 0: Disable)
R
Integer
type
5.2
M_SCNILogic
LOGIC
number
(1 to 3)
Safety communication function's SCNI
and area input's logic input LOGICn
(1: OFF, 0: ON)
R
Integer
type
5.2
M_SCNO
SCNO
number
(1 to 4)
Safety communication function's safety
output SCNOn
(1: ON, 0: OFF)
R
Integer
type
5.2
M_SfSts
Function
number
(1 to 12)
Execution states of safety functions
(1: Enable, 0: Disable)
R
Integer
type
5.2
M_SlpPreStp
None
SLP pre-stop status
R
Integer
type
5.2
* Attribute R: Read-only
5.2 Explanations of Robot (System) State Variables
M_SCNSts
[Function]
Whether safety connection is established is returned.
Disconnected/function disabled: 0
Waiting for connection establishment: 1
Established: 2
[Format]
Example) <Numerical variable> = M_SCNSts
[Terminology]
<Numerical variable> This specifies a numerical variable to which a value is to be assigned.
[Reference Program]
M1 = M_SCNSts 'Whether safety connection is established is stored in M1.
[Explanation]
(1) Whether safety connection is established is returned.
(2) Read-only.
(3) When the function is disabled, "0" is returned.

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English