Start Of Monitor / End Of Monitor - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3 Description of functions

3.4.4. Start of monitor / End of monitor

Explain start of monitor and end of the monitor.
(1) Start of monitor
Set the data type ID as a starting packet data, set data output start (1) on the command, you want to monitor the return
data type 1-4 In addition, it sends to the robot controller.
If the start packet data is accepted normally, the robot controller continuously sends reply packet data (output data) to the
Ethernet communication device by every control cycle of the robot controller (refer to the following).
Controller
CR750/CR751 series
CR800 series
*1 Because it depends on the performance of the communication path and the communication device, the period is not
guaranteed.
(2) End of monitor
It will be sent to the robot controller by setting the data output end (255) to the command end packet data. If accepted, the
robot controller to exit the sending of the reply packet data.
If you want to change the type of output data on the monitor the way, it sends a start packet data.
Ethernet
Communication
Device
About communication device
• Communication device is the only one. It is not possible to communicate with the other device of two or more.
• It is disconnected from the communication device in communication first, and then communicates with a corresponding later
Caution
3-28
Approx. 7.11 msec
Approx. 3.5 msec (*If user mechanical is set, approx. 7.11 msec)
<Send packet data>
•
Command (Start / End)
•
Reply data type 1 to 4
(Data type ID)
•
Input/Output signal number
<Reply packet data>
•
Reply data 1 to 4
•
Input/Output signal data
Until the end of monitor
The data output from the robot, for that is sent (UDP) communication via Ethernet without the
retransmission process, because there is the case that such noise environments, such as the
transmission of data or a wrong data dropout occurs, the guarantee of data is not possible.
Use the data output from the robot only for monitoring. When the data needs to be used for
control, check the data for consistency on the receiving side by comparing the data with the
previous value of the communication data counter or the monitoring counter of the robot
information (refer to section 3.4.4). If the check shows the data is incorrect, take appropriate
measures, such as stopping the equipment safely, before use.
Control cycle (*1)
Controller
Robot