Select Monitoring Items; Select Target Mecha - Mitsubishi Electric CR800-D Series Instruction Manual

3Monitor Robot Information

3.1.1 Select Monitoring Items

Here, selects the monitoring functions output by the robot from the GOT.
Only the data specified by items (set to "1") selected with each bit can be monitored. For more information
on each monitoring data, refer to
(1) GOT output data
a) Word data
GOT Addr
(offset)
512
(2) Robot output data
a) Word data
GOT Addr
(offset)
512

3.1.2 Select Target Mecha

Here, selects the target mecha number of monitoring data output by the robot from the GOT.
The robot outputs the data with selected mecha number. The number (1 to 3) is selectable for mecha num-
bers. When the number other than 1 - 3 is specified, the data is initialized (zeros are put in the whole target
area)
(1) GOT output data
a) Word data
GOT Addr
(offset)
841 Specify a mecha number [1 - 3]
(2) Robot output data
a) Word data
GOT Addr
(offset)
731 Mecha number [1 - 3]
3-9Operation Flow
Page 11, "3.2 Monitoring Item"
Function selection [Allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
Function performing [allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
and after.
Description
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Remarks
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