Mitsubishi Electric CR750-Q - Page 609

7Appendix
Real-time external control function Appendix-589
Reply data type designation
RecvType
unsigned short
(2-byte)
1) When transmitting (commanding) from the personal computer to the
controller, designate the type of data replied from the controller.
0//
No data
1//
XYZ data
2//
Joint data
3//
pulse data
4//
XYZ data (Position after filter process)
5//
Joint data (Position after filter process)
6//
Motor pulse data (Position after filter process)
7//
XYZ data (Encoder feedback value)
8//
Joint data (Encoder feedback value)
9//
Motor pulse data (Encoder feedback value)
10 //
Current command [%]
11 //
Current feedback [%]
2) When receiving (monitoring) from the controller to the personal
computer, indicate the type of position data replied from the
controller.
0//
No data
1//
XYZ data
2//
Joint data
3//
Motor pulse data
4//
XYZ data (Position after filter process)
5//
Joint data (Position after filter process)
6//
Motor pulse data (Position after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Motor pulse data (Encoder feedback value)
10 // Current command [%]
11 // Current feedback [%]
* It is the same as RecvType. You may use whichever.
Reservation
reserve
unsigned short
(2-byte)
Not used.
Position data
Pos / jnt / pls
POSE, JOINT or
PULSE (40-byte)
* Refer to
strdef.h in the
sample program
for details on
each data
structure.
1) When transmitting (commanding) from the personal computer to the
controller, designate the command position data transmitted from
the personal computer.
Set this to the same data type as that designated for the
transmission data type designation.
2) When receiving (monitoring) from the controller to the personal
computer, this indicates the position data replied from the
controller.
The data type is shown in SendType (= RecvType ) .
The contents of data are common to command/monitor.
POSE // XYZ type [mm/rad]
JOINT // Joint type [rad]
PULSE // Motor pulse type [the pulse] or Current type [%].
Transmission input/output
signal data designation
SendIOType
unsigned short
(2-byte)
1) When transmitting (commanding) from the personal computer to the
controller, designate the data type of the input/output signal
transmitted from the personal computer.
Designate "No data" when not using this function.
2) When receiving (monitoring) from the controller to the personal
computer, this indicates the data type of the input/output signal
replied from the controller.
The contents of the data are common.
0 // No data
1 // Output signal
2 // Input signal