Mitsubishi Electric CR800-D Series - Timing Chart

3Monitor Robot Information
Operation Flow 3-10
3.1.3 Timing Chart
Fig.3-1:Timing chart for selecting monitoring items and target mecha
(1) When the GOT sets the target bit of "Select function" to "ON", the robot sets the target bit of "Perform-
ing function" to "ON" to start the monitoring output of target item. Here, when "Specify mecha num-
ber" is other than 1 - 3, the robot waits to update the data.
(2) When the GOT sets "Specify mecha number" to one, the robot starts to update mecha 1's data.
(3) When the target bit of "Select function" is set to "ON" while the GOT sets "Specify mecha number",
the robot starts to update the data of target item while at the same time the robot sets the target bit
of "Performing function" to "ON".
(4) When the GOT changes "Specify mecha number", the robot outputs the data of specified mecha.
(5) When the GOT sets "Mecha number" to other than 1 - 3, the robot clears the output data.
(6) When the GOT re-sets "Mecha number", the robot outputs the data of target mecha.
(7) When the GOT sets the target bit of "Select function" to "OFF", the robot sets the target bit of "Per-
forming function" to "OFF" to initialize the output data.
The synchronization of data in CPU buffer memory is guaranteed on a per 32bit (2
word) basis. But, the synchronization in the unit more than this bit cannot be guaran-
teed. Therefore, be aware that the position type and joint type data is guaranteed for
each axis, the data is not guaranteed as a whole.
(1) (2) (3) (4) (5) (6) (7)
Sequencer
Specify mecha
No
Mecha No
Data for monitoring
current and
aimed positions
1 2
Robot
0
1
2
Mecha 1's
value
Mecha 2's
value
1
1 0
Data for monitoring
maintenance
information
Mecha 2's
value
Mecha 1's
value
The data is updated periodically while outputting
setting values (monitoring output)
Select function, bit 4
(Monitor current and
aimed positions)
Select function, bit 6
(Monitor maintenance
information)
Performing function, bit 4
(Monitor current and
aimed positions)
Performing function, bit 6
(Monitor maintenance
information)
Mecha 1's
value
Mecha 1's
value
GOT Robot
CAUTION