Real-Time External Control Function - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3.3. Real-time external control function

The robot motion movement control can retrieve the position command at real-time in cycle units, and move to the
commanded position. It is also possible to monitor the input/output signals or output the signals simultaneously.
Using the robot language MXT command, real-time communication (command/monitor) is carried out with communication.
The following table lists the position command data for giving the target move position from the personal computer to the
robot for each hour of the motion operation control cycle, and the monitor data types from the robot.
For more information about communication data, see Section 3.3.1, "Command Explanation" and Section 3.3.2,
"Communication Data Packet Explanation" in this document.
Position command data type
[1] Rectangular coordinate data
[2] Joint coordinate data
[3] Motor pulse coordinate data
Motion movement control cycle (CR750/CR751 series: approx. 7.1 ms,
CR800 series: approx. 3.5 ms (If user mechanical is set, approx. 7.1 ms))
Robot controller
Personal computer
Monitor data type
[1] Rectangular coordinate data
[2] Joint coordinate data
[3] Motor pulse coordinate data
[4] Rectangular coordinate data (command value after filter processing)
[5] Joint coordinate data (command value after filter processing)
[6] Motor pulse coordinate data (after filter processing)
[7] Rectangular coordinate data (encoder feedback value)
[8] Joint coordinate data (encoder feedback value)
[9] Motor pulse coordinate data (encoder feedback value)
[10] Current command (%)
[11] Current feedback (%)
Command position
transmission/reception
Command value calculation
3 Description of functions
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