Mitsubishi Electric CR750-Q Instruction Manual page 394

4MELFA-BASIC V
M_Wupov
[Function]
Returns the value of an override (warm-up operation override, unit: %) to be applied to the command speed
in order to reduce the operation speed when in the warm-up operation status.
Note) For more information about the warm-up operation mode, see
Mode" for detail.
[Format]
Example)<Numeric Variable> = M_Wupov [(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 M1=M_Wupov(1)
[Explanation]
(1) This is used to confirm the value of an override (warm-up operation override) to be applied to the com-
mand speed in order to reduce the operation speed when the robot is in the warm-up operation status
(the status in which operation is performed by automatically reducing the speed).
(2) If the warm-up operation mode is disabled, the mode of the controller is set to "TEACH" or the machine
is being locked, the value is always 100.
(3) If the normal status changes to the warm-up operation status, or the warm-up operation status is set
immediately after power on, the value specified in the first element (the initial value of a warm-up oper-
ation override) of the WUPOVRD parameter is set as the initial value, and the value of M_Wupov
increases according to the operation of the robot. And when the warm-up operation status is canceled,
the value of M_Wupov is set to 100.
(4) The actual override in the warm-up operation status is as follows:
During joint interpolation operation = (operation panel (T/B) override setting value) x (program override
(Ovrd instruction)) x (joint override (JOvrd instruction)) x warm-up operation override
During linear interpolation operation = (operation panel (T/B) override setting value) x (program over-
ride (Ovrd instruction)) x (linear specification speed (Spd instruction)) x warm-up operation override
(5) This variable only reads the data.
4-374 Detailed explanation of Robot Status Variable
Specifies the numerical variable to assign.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' The value of a warm-up operation override is entered in M1.
Page 502, "5.19 Warm-Up Operation