Mitsubishi Electric CR800-D Series - Monitor Position and Joint Information; Select Position and Joint Data

3Monitor Robot Information
Monitoring Item 3-16
3.2.4 Monitor Position and Joint Information
Here, periodically outputs the robot's various position type and joint type data to the CPU buffer memory.
The
GOT selects the data output by the robot. The area exists for one pieces of position type data and three
pieces of joint type data and the data output for monitoring can be individually set by the GOT.
(1) Select Position and Joint Data
In the GOT, set up the number for position and joint data output by the robot.
The robot outputs the monitoring data corresponding to the selected data number.
The area exists for one pieces of position type data and three pieces of joint type data and the data can be
individually set.
When the GOT specifies the data with the number which is out of range, the robot sets all monitoring data to
zero.
(1) Data list
a) GOT output
b) Robot output
GOT Addr
(offset)
Description
850
Position data selection [1 - 4]
1: XYZ feedback position
Note1)
2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
Note1) Supported with controller software version A5m or later.
851
Joint data selection-1 [1 - 13]
1: Joint feedback position
Note1)
2: (Reserved)
3: Difference between estimated and actual torques when detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
852
Joint data selection-2 [1 - 13]
For setting values, refer to 851 above.
853
Joint data selection-3 [1 - 13]
For setting values, refer to 851 above.
GOT Addr
(offset)
Description
906 Position data number [1 - 4]
907 Joint data number-1 [1 - 13]
908 Joint data number-2 [1 - 13]
909 Joint data number-3 [1 - 13]