Monitor Current And Aimed Positions - Mitsubishi Electric CR800-D Series Instruction Manual

3.2.3 Monitor Current and Aimed Positions

Here, periodically outputs robot's current and aimed positions to the CPU buffer memory.
(1) Monitoring data list
GOT Addr
(offset)
830
831
832
833
834
835
836
837
838
839
Current position (perpendicular)
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
Aimed position (perpendicular)
860
861
862
863
864
865
866
867
868
869
Description
-4
X coordinate value [10 mm/10
-4
Y coordinate value [10 mm/10
-4
Z coordinate value [10 mm/10-4deg]
-4
A coordinate value [10 mm/10
-4
B coordinate value [10 mm/10
-4
C coordinate value [10 mm/10
-4
L1 coordinate value [10 mm/10
-4
L2 coordinate value [10 mm/10
Structure flag
Multi-turn data
-4
X coordinate value [10 mm/10
-4
Y coordinate value [10 mm/10
-4
Z coordinate value [10 mm/10
-4
A coordinate value [10 mm/10
-4
B coordinate value [10 mm/10
-4
C coordinate value [10 mm/10
-4
L1 coordinate value [10 mm/10
-4
L2 coordinate value [10 mm/10
Structure flag
Multi-turn data
3Monitor Robot Information
3.5ms
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
-4
deg]
Monitoring Item 3-14
Update
Cycle