Mitsubishi Electric CR800-D Series - Maintaining the Robot

Contents
1
Page
1 Overview ......................................................................................................................................... 1-1
1.1 Function List .............................................................................................................................. 1-1
1.2 Features .................................................................................................................................... 1-2
1.3 CPU buffer Memory Configuration ............................................................................................ 1-3
1.3.1 Memory Configuration for Valid/Invalid Extended Function ................................................ 1-3
1.3.2 Memory Map of Extended Function Area ........................................................................... 1-4
2 Preparation for Using Extended Function ....................................................................................... 2-5
2.1 Operation flow ........................................................................................................................... 2-5
2.1.1 Set up Parameter for Selecting CPU buffer Memory Extended Function ........................... 2-5
2.1.2 Check Robot Language Setting .......................................................................................... 2-6
3 Monitor Robot Information .............................................................................................................. 3-7
3.1 Operation Flow .......................................................................................................................... 3-8
3.1.1 Select Monitoring Items ...................................................................................................... 3-9
3.1.2 Select Target Mecha ........................................................................................................... 3-9
3.1.3 Timing Chart ..................................................................................................................... 3-10
3.2 Monitoring Item ....................................................................................................................... 3-11
3.2.1 Monitor Operation Control Setting Values ........................................................................ 3-11
3.2.2 Monitor Activities ............................................................................................................... 3-13
3.2.3 Monitor Current and Aimed Positions ............................................................................... 3-14
3.2.4 Monitor Position and Joint Information ............................................................................. 3-16
(1) Select Position and Joint Data ....................................................................................... 3-16
(2) Position and Joint Data .................................................................................................. 3-18
3.2.5 Monitor Maintenance Information ..................................................................................... 3-21
4 Reads/Writes Robot's Variables ................................................................................................... 4-22
4.1 Function Description ............................................................................................................... 4-22
4.2 Operation Flow ........................................................................................................................ 4-22
4.3 How to Operate Variables ....................................................................................................... 4-23
4.3.1 Data List ............................................................................................................................ 4-23
(1) GOT output data ............................................................................................................. 4-23
(2) Robot output data ........................................................................................................... 4-24
(3) Completion status ........................................................................................................... 4-25
(4) Data description ............................................................................................................. 4-25
4.3.2 Timing Chart ..................................................................................................................... 4-27
5 Read Current Line of Robot Program ........................................................................................... 5-28
5.1 Function Description ............................................................................................................... 5-28
5.2 Operation flow ......................................................................................................................... 5-28
5.3 How to Operate Program ........................................................................................................ 5-29
5.3.1 Data List ............................................................................................................................ 5-29
5.3.2 Timing Chart ..................................................................................................................... 5-33
6 Set up Robot's Maintenance ......................................................................................................... 6-34
6.1 Function Description ............................................................................................................... 6-34
6.2 Operation flow ......................................................................................................................... 6-34
6.3 How to Operate Maintenance ................................................................................................. 6-35
6.3.1 Data List ............................................................................................................................ 6-35
6.3.2 Timing Chart ..................................................................................................................... 6-37
7 Read Robot Information ......................................................................................................
.......... 7-38
7.1 Function Description ............................................................................................................... 7-38
7.2 Operation flow ......................................................................................................................... 7-38
7.3 How to Operate Robot Information ......................................................................................... 7-39