Data Type Id - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3 Description of functions

3.4.6. Data type ID

The type of data that can be monitored in real-time monitor function.
ID Contents
0 no data
1 XYZ position (Command) *Angle in radians
2 Joint position (Command) *Angle in radians
3 Motor pulse position (Command)
7 XYZ position (Feedback) *Angle in radians
8 Joint position (Feedback) *Angle in radians
9 Motor pulse position (Feedback)
10 Current command [0.1% rate]
11 Current feedback [0.1% rate]
12 Robot information
13 Position droop
14 Speed (Command) [rpm]
15 Speed (Feedback) [rpm]
16 Axis load level [%]
17 Encoder temperature [°C]
18 Encoder misscount
19 Motor voltage [V]
20 Regeneration level [%]
21 Tolerable command + [0.1% rate]
22 Tolerable command - [0.1% rate]
23 RMS current [0.1% rate]
101 Force sensor current position xyz[N]abc[Nm]
102 Force sensor original data (after offset cancel) xyz[N]abc[Nm]
103 Force sensor original data (before offset cancel) xyz[N]abc[Nm]
104 Position command of the force sensor correction
111 COL presumed torque [0.1% rate]
112 COL threshold + [0.1% rate]
113 COL threshold - [0.1% rate]
1001 XYZ position (Command) *Angle in degrees
1002 Joint position (Command) *Angle in degrees
1007 XYZ position (Feedback) *Angle in degrees
1008 Joint position (Feedback) *Angle in degrees
1010 Current command [Arms]
1011 Current feedback [Arms]
1012 Tolerable command + [Arms]
1013 Tolerable command - [Arms]
1014 RMS current [Arms]
3-32
Table 3-8 Data type ID
Data structure Ver.
–
POSE
JOINT
PULSE (Long×8)
POSE
R3n/S3n or
later
JOINT
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
ROBMON
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
FLOAT8(Float×8)
PULSE (Long×8)
R4b/S4b or
PULSE
later
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
FORCE (Float×8)
FORCE (Float×8)
FORCE (Float×8)
R3n/S3n or
POSE
later
PULSE (Long×8)
PULSE (Long×8)
PULSE (Long×8)
POSE
JOINT
POSE
JOINT
R4b/S4b or
FLOAT8 (Float×8)
later
FLOAT8 (Float×8)
FLOAT8 (Float×8)
FLOAT8 (Float×8)
FLOAT8 (Float×8)