Monitor Activities - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

3Monitor Robot Information

3.2.2 Monitor Activities

Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to
the shared memory.
(1) Monitoring data list
Sequencer
Addr
(offset)
810 Current instruction speed [10
811
812 Current distance remained [10
813
814 Distance between instructed and feedback positions [10
815
816 Arrival factor [%] to the current aimed position
817
818 Collision detection [1: Collided/ 0: Otherwise]
819
820 Deviance amount between instructed and actual positions during performing
821
Note1) Robot state variable (M_ColSts) is "1" for about 7.1ms between collision detection and servo OFF. But, the data
"1" is output to the shared memory for 1sec after the collision is detected.
<Precautions>
● When the target mecha does not exist, outputs the data zero.
● When the data is dependent on a slot and the slot does not exist which has the control of target mecha,
outputs the data zero. The data dependent on a slot is as follows:
• Current distance remained (M_RDst)
• Arrival factor to the current aimed position (M_Ratio)
• Current acceleration and deceleration state (M_ActSts)
3-25Monitoring Item
Current acceleration and deceleration state
[0: Stopped/ 1: Accelerated/ 2: Constant speed/ 3: Decelerated]
Going over the limit during performing compliance
[1: Almost go over the limit/ 0: Does not go over the limit]
-4
compliance [10 mm]
Description
-4
mm/s]
-4
mm]
-4
Note1)
Supported
State Variable
M_RSpd
M_RDst
M_Fbd
mm]
M_Ratio
M_AclSts
M_ColSts
M_CmpLmt
M_CmpDst
Update
Cycle
7.1msec