Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual page 137

long p8; // Additional axis 2 (Motor 8 axis)
} PULSE;
/************************************************************/
/* Real-time function communication data packet
/************************************************************/
typedef struct enet_rtcmd_str {
unsigned short Command;
#define MXT_CMD_NULL
#define MXT_CMD_MOVE
#define MXT_CMD_END
unsigned short SendType;
unsigned short RecvType;
#define MXT_TYP_NULL
#define MXT_TYP_POSE
#define MXT_TYP_JOINT
#define MXT_TYP_PULSE
#define MXT_TYP_FPOSE
#define MXT_TYP_FJOINT
#define MXT_TYP_FPULSE
#define MXT_TYP_FB_POSE
#define MXT_TYP_FB_JOINT
#define MXT_TYP_FB_PULSE
#define MXT_TYP_CMDCUR
#define MXT_TYP_FBKCUR
union rtdata {
POSE pos;
JOINT jnt;
PULSE pls;
long lng1[8];
} dat;
unsigned short SendIOType;
unsigned short RecvIOType;
#define MXT_IO_NULL
#define MXT_IO_OUT
#define MXT_IO_IN
unsigned short BitTop;
unsigned short BitMask;
unsigned short IoData;
unsigned short TCount;
unsigned long CCount;
unsigned short RecvType1;
union rtdata1 {
POSE pos1;
JOINT jnt1;
PULSE pls1;
long lng1[8];
} dat1;
unsigned short RecvType2;
*/
// Command
0 // Real-time external command invalid
1 // Real-time external command valid
255 // Real-time external command end
// Command data type designation
// Monitor data type designation
//////////// Command or monitor data type ///
0 // No data
// For the command and monitor ////////////////////
1 // XYZ data
2 // Joint data
3 // pulse data
///////////// For position related monitor ///
4 // XYZ data (after filter process)
5 // Joint data (after filter process)
6 // Pulse data (after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Pulse data (Encoder feedback value)
// For current related monitors ////////////////////
10 // Electric current command
11 // Electric current feedback
// Command data
// XYZ type [mm/rad]
// Joint type [rad]
// Pulse type [pls]
// Integer type [% / non-unit]
// Send input/output signal data designation
// Return input/output signal data designation
0 // No data
1 // Output signal
2 // Input signal
// Head bit No.
// Transmission bit mask pattern designation (0x0001-0xffff)
// Input/output signal data (0x0000-0xffff)
// Timeout time counter value
// Transmission data counter value
// Reply data-type specification 1
// Monitor data 1
// XYZ type [mm/rad]
// JOINT type [mm/rad]
// PULSE type [mm/rad]
// Integer type [% / non-unit]
// Reply data-type specification 2
4 Appendix
4-17