Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 85

Refer to " Chapter 11 Language Specifications " for details on each command.
Def MoTrg (Def Mo trigger)
[Function]
Defines trigger conditions (Mo trigger) that reference position commands and the FB position, as well as
force sensor data and so on.
[Syntax]
Def  MoTrg  <Trigger No.>, <Conditions>
[Terminology]
<Trigger No.> Specifies the defined Mo trigger No. with a constant.
Setting range: 1 to 3
<Conditions> Conditions under which the Mo trigger turns ON are described with the following syntax.
<Specification data> <Comparison operator> <Numerical data>
<Specification data> The following robot (system) status variables can be used.
<Numerical data>
* Up to four types of <Conditions> can be combined and used with And and Or operators.
[Example: (<Condition A> And <Condition B>) Or (<Condition C> And <Condition D>)]
SetMoTrg (Set Mo trigger)
[Function]
Enables/disables trigger conditions (Mo trigger) that reference position commands and the FB position,
as well as force sensor data and so on.
[Syntax]
SetMoTrg  <Trigger No.>
[Terminology]
<Trigger No.>
・ Status variables
All components of P_Curr, P_Fbc, J_Curr, J_Fbc, P_FsCurP, P_FsCurD,
M_FsRsltF, M_FsRsltM
・ Input signal M_In
・ Output signal M_Out
The following constants and variables can be used.
・ Numeric constants, numeric variables, numeric array variables
・ Position variable component data
・ Joint variable component data
Specifies the trigger No. for the Mo trigger to be enabled with a constant.
If 0 is specified, the Mo. Trigger is disabled.
Setting range: 0 - 3
8 Using the Force Sense Function (Programming)
Force Sense Detection 8-73