Mitsubishi Electric CR750-Q Instruction Manual page 588

6External input/output functions
Parameter
Class
name
PSOUT Input Position data output
specification
Output Position data being out-
putted
PSPOS Input
Output Specified position data Specified position data is outputted by using
TMPOUT Input Temperature output
request
Output Temperature output sig-
nal
RSTBAT Input Battery cumulative time
reset
Output Reset is completed
6-568 Dedicated input/output
Name
Specifications are made so that specified posi-
tion number data for specified slot number is
outputted.
Position data is updated when specified signal
is turned ON. Input signal level is "level," but
position data remains un-updated whenever
the signal stays ON. Information is updated
upon the signal being turned ON.
0(OFF): Position data is not required to be out-
putted or position number is being speci-
fied.
1(ON): Position data output demanded.
Output is made to indicate that specified posi-
tion data has been outputted.
[Output information]
0(OFF): Position data not yet outputted
1(ON): Position data being outputted
-
signals consisting of 32 bits for 8 axes plus 32
bits for 2 elements (structural flags) derived
from signal numbers specified under this
parameter (320 bits are used).
The range of the setting value:
(1)CR7xx-Q series
10000 ~ 17872: Multi-CPU share device
(2)CR7xx-D series
2000 ~ 3632: Profibus
6000 ~ 7728: CC-Link
Unit of each component value for position data
expressed by a 32-bit signal is micrometer
-3
(um) = 10 mm or 10
Take note that outputted data comes as a
signed integer (-2
However, structural flags are outputted in the
form of values they carry without being con-
verted in terms of micrometer.
Position type variable: X, Y, Z, A, B, C, L1, L2,
Joint type variable: J1, J2, J3, J4, J5, J6, J7,
J8
If an error occurs in slot number,
"0x7FFFFFFF" is outputted. If an error occurs
in position number, "0x80000000" is outputted.
Since the time chart and precautions are
shown in Page 584, "(5) Example of external
operation timing chart (Part
The temperature inside the robot controller is
output to the numerical output (IODATA).
After the start of inputting this signal to the
robot, wait at least
15 ms before reading the numerical output
(IODATA) signal
The "temperature output in progress" status is
output to the numerical output.
Reset the battery cumulative tine.
Output that the reset has been completed.
Function
-
-3
degree.
31 31
~ 2 -1).
FL1, FL2
5)", refer to it.
Factory shipment signal number.
Signal
Input, output
level
Note1)
CR7xx-Q
Level -1,-1
- -1 (Not significant)
-1
Edge -1,-1
-
- -1,
-1
CR7xx-D