Mitsubishi Electric MELFA CR750 Series Instruction Manual page 50

4 Safety monitoring function
(7) How to confirm the SLP pre-stop status
When the robot is stopped during the automatic operation, confirm whether the operation is in the SLP
pre-stop status as followings.
(a) Operation panel in the front of the controller
When the operation is in the SLP pre-stop status, the start button LED lamp on the operation panel
blinks.
(b) Dedicated output signal
The present SLP pre-stop status can be output to the dedicated output signal SLPPRSTP. The following
table shows the correspondence of the output signal value to the SLP pre-stop status.
SLP pre-stop status
During pre-stop
Not in pre-stop status
(c) Robot status variable
The SLP pre-stop status can be confirmed in the robot status variable M_SlpPreStp.
M_SlpPreStp
[Function]
The variable returns the present SLP pre-stop status.
[Format]
Example) <Numerical variables>=M_SlpPreStp
[Terminology]
<Numerical variables>
[Reference Program]
M_Outb(100) = M_SlpPreStp
[Explanation]
(1) The variable returns the present SLP pre-stop status.
(2) While the robot is stopped in the SLP pre-stop status, the number (1 to 8) of the applicable position
monitoring plane is returned. Otherwise, 0 is returned.
(3) When the position monitoring (SLP function) is disabled, 0 is always returned.
(4) The variable is read-only.
4-38 Safety monitoring function
Value of the dedicated output signal SLPPRSTP
1 to 8
(Numbers of the position monitoring plane for the
stop are output.)
0
The current SLP pre-stop status is returned.
Not in pre-stop status: 0 / During pre-stop: 1 to 8 (number of the
applicable position monitoring plane)
'The variable outputs the present SLP pre-stop status from the
output signal 100 using 8-bit data.