Mitsubishi Electric MELFA CR750 Series Instruction Manual page 36

4 Safety monitoring function
(b) Dedicated output signal
The state of the monitoring mode can be output to the dedicated output signal SFMODE. The following
table shows the correspondence of the output signal value to the state of the monitoring mode.
Safety monitoring
function
Enabled
Disabled
(c) Robot status variable
The state of the monitoring mode can be confirmed in the robot status variable M_SfMode.
M_SfMode
[Function]
The variable returns a current state of the monitoring mode for the safety monitoring function.
[Format]
Example) <Numerical variables> = M_SfMode
[Terminology]
<Numerical variables>
[Reference Program]
M_Outb(100) = M_SfMode
[Explanation]
(1) The variable returns a current state of the monitoring mode for the safety monitoring function.
(2) The variable returns the following value depending on the state of the monitoring mode.
Safety monitoring
function
Enabled
Disabled
(3) The variable is read-only.
4-24 Safety monitoring function
Value of dedicated
Monitoring mode
output signal SFMODE
Mode M
Mode 1
Mode 2(A)
Mode 2(B)
Mode 3
—
A current state of the monitoring mode is returned.
'The variable outputs a current state of the monitoring mode
from the output signal 100 using 8-bit data.
Monitoring mode M_SfMode value
Mode M
Mode 1
Mode 2(A)
Mode 2(B)
Mode 3
—
1
2
3
4
5
0
1
2
3
4
5
0