Mitsubishi Electric CR800-D Series - Type of Maintenance and Inspection

1-1Function List
1Overview
1 Overview
This manual explains the expanded function and operation when connecting the robot controller and the
GOT directly in CR800-D series robot controller.
Monitoring of the robot information and the setup of the data are possible through the CPU buffer memory.
(The CPU buffer memory is extended.)
Note: These CPU buffer memory extended functions only support MELFA-BASIC V and VI or later. They do
not support MELFA-BASIC IV.
(For more information, refer to Page 6, "2.1.2 Check Robot Language Setting")
1.1 Function List
These CPU buffer memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in CPU buffer memory on the robot. Operation
function outputs a request from the GOT to the robot as needed and exchanges the data.
No Item Description
I/F btwn
Robots
Update Cycle
1 Monitor-
ing func-
tion
Monitor operation con-
trol setting values
Monitors the setting values relating to
operation control command and opera-
tion control.
Motoring output
(Robot side peri-
odically updates
the data in CPU
buffer memory)
3.5ms
2 Monitor activities Monitors the robot's activities (current
speed, arrival factor to the aimed posi-
tion, etc.)
3.5ms
3 Monitor current and
aimed positions
Monitors current and aimed positions of
robot.
3.5ms
4 Monitor general position
and joint information
Monitors various position type data (ori-
entation at collision, etc.) and joint type
data (current value, load factor, etc.)
It may differ accord-
ing to each item.
Refer to Page 16,
"3.2.4 Monitor Posi-
tion and Joint Infor-
mation".
5 Monitor maintenance
information
Monitors the maintenance information
(grease remaining time).
Depending on the
parameter MFINTVL
6 Operation
function
Read/write variables Reads/ writes variables used in the
robot's program.
Request reply
method
(The robot side
answers by the
output request of
the GOT, and
delivers the data
on the CPU buf-
fer memory)
Responds within 1s
(It may vary accord-
ing to the load status
of robot control)
7 Read program's current
line
Reads currently performing line of the
robot program on a per line basis (up to
128 characters).
8 Set up maintenance Resets the servomotor information.
9 Read error information Reads detailed error information (pro-
gram name, occurred line, etc.)
10 Read product information Reads the robot's product information
(model name, version, and serial num-
ber).
GOT
GOT direct connection
Ethernet