Mitsubishi Electric CR800-D Series - Enabling the Predictive Maintenance Function

3Monitor Robot Information
Monitoring Item 3-20
(2) Data description
The table below lists the content of each data item.
Item Description Setting Value (unit)
Supported
State
Variable
Update cycle
Position data
4: Direction at the time
of collision
Note1)
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.
Robot's direction when the collision is
detected
Divides the direction at
the time of collision to
components X, Y, Z.
Specify the value with
the proportion when the
maximum moving axis
value is set to 100.
P_ColDir 3.5ms
(User mechanism is
enabled: 7.1ms)
Joint data
3: Difference between
estimated and
actual torques when
detecting a collision
Note1)
Maximum difference value between
estimated and actual torques when
detecting a collision is valid
[10
-3
%]
J_Colmxl 3.5ms
(User mechanism is
enabled: 7.1ms)
5: Current instruction Outputs the current instruction value.
[10
-3
Arms]
28ms
6: Maximum current
instruction 1
Outputs the maximum current instruc-
tion value after power-up. Reset when
the robot power supply is shut off.
[10
-3
Arms]
0.9sec
7: Maximum current
instruction 2
Outputs the maximum current instruc-
tion value for past 2sec.
[10
-3
Arms]
0.9sec
8: Current feedback
Outputs the current value generated in
the servo motor.
[10
-3
Arms]
3.5ms
(User mechanism is
enabled: 7.1ms)
9: Allowable current
instruction, minus
side
Outputs the maximum allowable value
(minus side) of the current generated in
the servo motor. * The value may vary
according to jog and automatic opera-
tions.
[10
-3
Arms]
3.5ms
(User mechanism is
enabled: 7.1ms)
10: Allowable current
instruction, plus side
Outputs the maximum allowable value
(plus side) of the current generated in
the servo motor. * The value may vary
according to jog and automatic opera-
tions.
[10
-3
Arms]
3.5ms
(User mechanism is
enabled: 7.1ms)
11: Effective current
Outputs the effective value of current
feedback.
[10
-3
Arms]
28ms
12: Axis load level
Outputs the motor's load level. The
bigger this value, the heavier the
load on the motor.
Roughly it should be 80% or less.
* It takes a few minutes until the value
will stable.
[10
-3
%]
0.9sec
13: Maximum axis load
level
Outputs the maximum value of axis
load level after power-up. Reset when
the power supply is shut off.
[10
-3
%]
0.9sec