Mitsubishi Electric CR750-Q Instruction Manual page 619

#define MXT_CMD_NULL0//Real-time external command invalid
#define MXT_CMD_MOVE1// Real-time external command valid
#define MXT_CMD_END255//Real-time external command end
unsigned short SendType;//Command data type designation
unsigned short RecvType;//Monitor data type designation
//////////// Command or monitor data type ///
#define MXT_TYP_NULL0//No data
//For the command and monitor ////////////////////
#define MXT_TYP_POSE1//XYZ data
#define MXT_TYP_JOINT2//Joint data
#define MXT_TYP_PULSE3 //pulse data
///////////// For position related monitor ///
#define MXT_TYP_FPOSE4// XYZ data (after filter process)
#define MXT_TYP_FJOINT5// Joint data (after filter process)
#define MXT_TYP_FPULSE6// Pulse data (after filter process)
#define MXT_TYP_FB_POSE7// XYZ data (Encoder feedback value)
#define MXT_TYP_FB_JOINT8// Joint data (Encoder feedback value)
#define MXT_TYP_FB_PULSE9// Pulse data (Encoder feedback value)
//For current related monitors ////////////////////
#define MXT_TYP_CMDCUR10//Electric current command
#define MXT_TYP_FBKCUR11//Electric current feedback
unsigned short reserve;// Reserved
union rtdata {//Command data
POSE pos;//XYZ type [mm/rad]
JOINT jnt;//Joint type [rad]
PULSE pls;//Pulse type [pls]
long lng1[8];//Integer type [% / non-unit]
} dat;
unsigned short SendIOType;// Send input/output signal data designation
unsigned short RecvIOType;// Return input/output signal data designation
#define MXT_IO_NULL0//No data
#define MXT_IO_OUT1//Output signal
#define MXT_IO_IN2//Input signal
unsigned short BitTop;// Head bit No.
unsigned short BitMask;// Transmission bit mask pattern designation (0x0001-0xffff)
unsigned short IoData;// Input/output signal data (0x0000-0xffff)
unsigned short TCount;// Timeout time counter value
unsigned long CCount;// Transmission data counter value
unsigned short RecvType1;// Reply data-type specification 1 .
unsigned short reserve1;// Reserved 1
union rtdata1 { // Monitor data 1 .
POSE pos1;// XYZ type [mm/rad] .
JOINT jnt1;// JOINT type [mm/rad] .
PULSE pls1; // PULSE type [mm/rad] .
long lng1[8]; // Integer type [% / non-unit] .
} dat1;
unsigned short RecvType2;// Reply data-type specification 2 .
unsigned short reserve2;// Reserved 2
union rtdata2 {//Monitor data 2 .
POSE pos2;// XYZ type [mm/rad] .
Real-time external control function Appendix-599
7Appendix