Mitsubishi Electric CR800-D Series Instruction Manual page 33

(2) Data description
The table below lists the content of each data item.
Item
4: Direction at the time
Note1)
of collision
3: Difference between
estimated and
actual torques when
detecting a collision
Note1)
5: Current instruction
6: Maximum current
instruction 1
7: Maximum current
instruction 2
8: Current feedback
9: Allowable current
instruction, minus
side
10: Allowable current
instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load
level
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.
Description
Robot's direction when the collision is
detected
Maximum difference value between
estimated and actual torques when
detecting a collision is valid
Outputs the current instruction value.
Outputs the maximum current instruc-
tion value after power-up. Reset when
the robot power supply is shut off.
Outputs the maximum current instruc-
tion value for past 2sec.
Outputs the current value generated in
the servo motor.
Outputs the maximum allowable value
(minus side) of the current generated in
the servo motor. * The value may vary
according to jog and automatic opera-
tions.
Outputs the maximum allowable value
(plus side) of the current generated in
the servo motor. * The value may vary
according to jog and automatic opera-
tions.
Outputs the effective value of current
feedback.
Outputs the motor's load level. The
bigger this value, the heavier the
load on the motor.
Roughly it should be 80% or less.
* It takes a few minutes until the value
will stable.
Outputs the maximum value of axis
load level after power-up. Reset when
the power supply is shut off.
3Monitor Robot Information
Supported
Setting Value (unit)
Divides the direction at P_ColDir
the time of collision to
components X, Y, Z.
Specify the value with
the proportion when the
maximum moving axis
value is set to 100.
J_Colmxl
-3
[10 %]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 %]
-3
[10 %]
State Update cycle
Variable
3.5ms
(User mechanism is
enabled: 7.1ms)
3.5ms
(User mechanism is
enabled: 7.1ms)
28ms
0.9sec
0.9sec
3.5ms
(User mechanism is
enabled: 7.1ms)
3.5ms
(User mechanism is
enabled: 7.1ms)
3.5ms
(User mechanism is
enabled: 7.1ms)
28ms
0.9sec
0.9sec
Monitoring Item 3-20