External Force Monitor Output - YASKAWA YRC1000micro Collaborative Operation Instructions

HW1484764

2.8. External Force Monitor Output

The estimated external force values and sensor data are output to the M registers as shown below:
Estimated external torque values
for each axis
Estimated TCP external force
values
Sensor data for each axis (CH1)
Sensor data for each axis (CH2)
Also, you can check these values on the programming pendant by selecting {SAFETY FUNC.} -
{External Force Monitor} from the programming pendant main menu.
Register number Unit
M310 to 317 [0.1Nm]
M320 to 326 [0.1N]
M330 to 335 -
M340 to 345 -
Estimated TCP external force values
Estimated external torque values
for each axis
External force judgment marks
- A black circle (●) appears if the
force/torque exceeds the limit.
A white circle (○) appears if the
force/torque is within the limit.
Maximum value
- Displays the maximum of the absolute value
of the accumulated force/torque values.
Maximum value reset button
- Press to reset all the force/torque maximum
values to zero.
Monitor screen exit button
- Press to exit from the monitor screen.
Sensor output data for each axis
2-10
HW1484764
Functional Overview
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