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Ex-T coordinates speed
Ex-T coordinates position
Spline path point
of adjusted speed
Tool point speed(FB)
Remaining distance(FB)
Tool point speed(CMD)
Remaining
distance(CMD)
Gap of CMD and FB
Transport factor(CMD)
Acceleration state(CMD)
Controller temperature
Safety input
Safety input signal A
Safety input signal B
INPUT
OUTPUT
Predictive maintenance score
(speed reducer abnormality)
Predictive maintenance score
(encoder data error)
Predictive maintenance score
(encoder communication error)
※High :High speed communication Ord :Ordinary communication
18.1.4. Starting
From the project tree, double-click [Tool] -> [Oscillograph]
18-392
[mm/s]
Speed of the Ex-T coordinates during execution of
the Ex-T control/the Ex-T spline interpolation
[mm deg]
The current position in the Ex-T coordinates
-
The path point number that speed adjustment has
occurred during execution of the spline
interpolation/the Ex-T spline interpolation
Speed of a tool center point（feedback）
[mm/s]
The remaining distance to the target position (in
[mm]
mm) while the robot is moving（feedback）.
Speed of a tool center point（command）
[mm/s]
Same as status variable values "M_RSpd"
The remaining distance to the target position (in
mm) while the robot is moving（command）.
[mm]
Same as status variable values "M_RDst".
The gap of a command position and a feedback
position.
[mm]
Same as status variable values "M_Fbd".
Speed of a tool center point（feedback）
[%]
-
The
current
（command）
[0=Stopped,1=Accelerating, 2 = Constant speed, 3
= Decelerating]
Same as status variable values "M_AclSts".
[deg C]
Controller temperature
-
It turns ON when either safety input signal A or
safety input signal B is OFF.
-
Input signals 128 to 135
-
Input signals 160 to 167
-
Consecutive input signal for 32 points
-
Consecutive output signal for 32 points
-
Current abnormality score of reducer (wave gear
device)
-
Current abnormality score of encoder data
-
Current abnormality score of encoder
communication
acceleration/deceleration
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