Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual page 44

3 Description of functions
Name
Reply data type
designation
RecvType
Reservation
reserve
Position data
Pos / jnt / pls
3-18
Data type
unsigned short 1) When transmitting (commanding) from the personal computer to the
(2-byte) controller, designate the type of data replied from the controller.
2) When receiving (monitoring) from the controller to the personal
computer, indicate the type of position data replied from the controller.
* It is the same as RecvType. You may use whichever.
unsigned short
(2byte) Not used.
POSE, JOINT or 1) When transmitting (commanding) from the personal computer to the
PULSE (40-byte) controller, designate the command position data transmitted from the
personal computer.
* Refer to strdef.h Set this to the same data type as that designated for the transmission data
in the sample type designation.
program for
details on each 2) When receiving (monitoring) from the controller to the personal
data structure. computer, this indicates the position data replied from the controller.
The data type is shown in SendType (= RecvType ) .
The contents of data are common to command/monitor.
Explanation
0 // No data
1 // XYZ data
2 // Joint data
3 // pulse data
4 // XYZ data (Position after filter process)
5 // Joint data (Position after filter process)
6 // Motor pulse data (Position after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Motor pulse data (Encoder feedback value)
10 // Current command [%]
11 // Current feedback [%]
0 // No data
1 // XYZ data
2 // Joint data
3 // Motor pulse data
4 // XYZ data (Position after filter process)
5 // Joint data (Position after filter process)
6 // Motor pulse data (Position after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Motor pulse data (Encoder feedback value)
10 // Current command [%]
11 // Current feedback [%]
POSE // XYZ type [mm/rad]
JOINT // Joint type [rad]
PULSE // Motor pulse type [the pulse] or Current type [%].