Mitsubishi Electric 3F-14C-WINE - Starting

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