Monitor Position And Joint Information; Select Position And Joint Data - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

3.2.4 Monitor Position and Joint Information

Here, periodically outputs the robot's various position type and joint type data to the shared memory.
The sequencer selects the data output by the robot. The area exists for one pieces of position type data and
three pieces of joint type data and the data output for monitoring can be individually set by the sequencer.

(1) Select Position and Joint Data

In the sequencer, set up the number for position and joint data output by the robot.
The robot outputs the monitoring data corresponding to the selected data number.
The area exists for one pieces of position type data and three pieces of joint type data and the data can be
individually set.
When the sequencer specifies the data with the number which is out of range, the robot sets all monitoring
data to zero.
(1) Data list
a) Sequencer output
Sequencer
Addr
(offset)
850
851
852
853
b) Robot output
Sequencer
Addr
(offset)
906 Position data number [1 - 4]
907 Joint data number-1 [1 - 13]
908 Joint data number-2 [1 - 13]
909 Joint data number-3 [1 - 13]
Position data selection [1 - 4]
1: (Reserved)
2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
Joint data selection-1 [1 - 13]
1: (Reserved)
2: (Reserved)
3: Difference between estimated and actual torques when detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
Joint data selection-2 [1 - 13]
For setting values, refer to 851 above.
Joint data selection-3 [1 - 13]
For setting values, refer to 851 above.
Description
Description
3Monitor Robot Information
Monitoring Item 3-28