Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 40

3Monitor Robot Information
(2) Timing chart
Sequencer
Robot
Sequencer Robot
Joint data
number-1
Joint data
number-1
Joint data
number-1
Fig.3-2:Joint data output, Timing chart
(1) When the sequencer selects "Joint data selection-1," the robot outputs the target data to "Joint data-
1" area.
(2) When the sequencer changes "Joint data selection-1," the robot outputs the changed target data to
"Joint data-1" area.
(3) When the sequencer selects the data out of valid range for "Joint data selection-1," the robot clears
"Joint data-1" (set all components to zero) and outputs zero for "Joint number-1."
(4) When the sequencer reselects "Joint data selection-1", the robot outputs the target data to "Joint
data-1" area.
* The same applies to Joint data-2, 3 and position data.
3-29Monitoring Item
(1) (2)
5
5
1: Current 12: Axis load
instruction
The data is updated periodically while
outputting setting values (monitoring output)
(3)
12 0
12
0
level
(4)
5
5
5: Current
instruction