Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual page 57

F1 element
F2 element
F3 element
F4 element
F5 element
F6 element
Not used
Tool point speed
(feedback)
Remaining distance
(feedback)
Tool point speed
(command)
Remaining distance
(command)
Gap of command and
feedback
Transport factor (command)
Acceleration state
(command)
Step number
Program name
Controller temperature
Not used
Monitoring counter
(*1) CR750/CR751 series: approx. 7.111 ms, CR800 series: approx. 3.5 ms (If user mechanical is set, approx. 7.1 ms)
float 1
float 2
float 3
float 4
float 5
float 6
float 7
float 8
Not used
Table 3-5 FORCE (N/Nm) data structure
4 bytes
float
4 bytes
float
4 bytes
float
Force sensor data[N, Nm] , 32 bytes
4 bytes
float
4 bytes
float
4 bytes
float
16 bytes Not used. Value is zero.
Table 3-6 ROBMON (Robot information) data structure
4 bytes
Speed of a tool center point (feedback) [mm/s]
float
4 bytes The remaining distance to the target position (in
float mm) while the robot is moving (feedback).
4 bytes Speed of a tool center point (command)
float Same as status variable values "M_RSpd"
The remaining distance to the target position (in mm) while the robot is moving
4 bytes
(command).
float
Same as status variable values "M_RDst".
4 bytes The gap of a command position and a feedback position.
float Same as status variable values "M_Fbd".
2 bytes
Speed of a tool center point (feedback)
integer
The current acceleration/deceleration status. (command)
2 bytes
[0=Stopped,1=Accelerating, 2= Constant speed, 3= Decelerating]
integer
Same as status variable values "M_AclSts".
2 bytes Step number (Only slot 1), (1-32767)
integer
6 bytes Program name (Only slot 1)
character Max Program name is 6 characters
2 bytes Controller temperature [0.1°C]
integer
2 bytes Not used.
4 bytes After power-on, +1 is counted from 0 in an operation control cycle unit (64/9 (*1)).
long The counting repeats in the range of 0 to 4294967295.
Table 3-7 FLOAT8 (short real) data structure
4 bytes
float
4 bytes
float
4 bytes
float
4 bytes
float
float (short real), 32 bytes
4 bytes
float
4 bytes
float
4 bytes
float
4 bytes
float
8 bytes Not used. Value is zero.
3 Description of functions
3-31