Monitoring Item; Monitor Operation Control Setting Values - Mitsubishi Electric CR800-D Series Instruction Manual

3Monitor Robot Information

3.2 Monitoring Item

3.2.1 Monitor Operation Control Setting Values

Here, periodically outputs the robot's operation control commands and the setting values for operation con-
trol to the CPU buffer memory.
(1) Monitoring data list
GOT Addr
(Offset)
777
778 ColLvl setting value
779
780
781
782
783
784
785
794
795
796 CmpG setting value
797
798
799
800
801
802
803
804
3-11Monitoring Item
ColChk setting value Collision detection setting [0: Invalid/ 1: Valid (error
occurred)/ 2: Valid (error not occurred)
Collision detection level, J1 axis [%: 1 - 500]
Collision detection level, J2 axis [%: 1 - 500]
Collision detection level, J3 axis [%: 1 - 500]
Collision detection level, J4 axis [%: 1 - 500]
Collision detection level, J5 axis [%: 1 - 500]
Collision detection level, J6 axis [%: 1 - 500]
(Reserved)
(Reserved)
CMP Pos/Tool/Jnt set- Compliance coordinate type
ting values [0: Invalid/ 1: Perpendicular/ 2: Tool/ 3: Joint]
Specify a compliance coordinate type [Specify target
axis with bit]
[Setting values to specify compliance axis of CMP
Pos/Tool/Jnt setting values]
The values below are set by setting up bit:
Compliance J1/X axis gain [10
Compliance J2/Y axis gain [10
Compliance J3/Z axis gain [10
Compliance J4/A axis gain [10
Compliance J5/B axis gain [10
Compliance J6/C axis gain [10
(Reserved)
(Reserved)
MvTune/Prec setting val- Operation characteristic [1: Standard/ 2: High-
ues speed/ 3: Track preferred/ 4: Vibration restricted]
Description
bit7 0
00000000
|||||||+---bit0:J1/X axis
||||||+----bit1:J2/Y axis
|||||+-----bit2:J3/Z axis
||||+------bit3:J4/A axis
|||+-------bit4:J5/B axis
||+--------bit5:J6/C axis
|+---------bit6:(Reserved)
+----------bit7:(Reserved)
Supported
Variable
-2
: 1 - 100]
-2
: 1 - 100]
-2
: 1 - 100]
-2
: 1 - 100]
-2
: 1 - 100]
-2
: 1 - 100]
Update
State
Cycle
3.5ms