Mitsubishi Electric CR800 Series - Add Command Line

3 Description of functions
3-29
3.4.5. Explanation of communication data packet
It describes the structure of the communication packet data to be used in real-time monitoring function. To the robot controller,
I will use the same packet structure on both send and receive from Ethernet communication device. Storage method of
data is little-endian. Real data in 32-bit real number is IEEE754 standard method. Data packet size is 196 bytes fixed.
Table 3-1 Data packet
Name
Data type
Explanation
Address
Command
unsigned short
2 byes
Specifies the start or end of the real-time monitoring function.
1 // Start of the real-time monitor
255 // End of the real-time monitor
0-1
Not used(reserve)
2 byes
Not used
2-3
Reply data type 1
unsigned short
2 byes
1) Communication device → Robot controller
Specifies the <Data type ID> of the data that you want to monitor.
2) Robot controller → Communication device
Echo back of send 1)
*Data type ID see [3.4.6 Data type ID]
4-5
Not used(reserve)
2 byes
Not used
6-7
Reply data 1
Data structure
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8
40 bytes
* Each data structure is
described in Table
Table 3-2, Table 3-3
Table 3-4, Table 3-5
Table 3-6, Table 3-7
1) E Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
The output data sent back from the controller.
Data type is seeing in the return data type.
*Data structure
POSE // XYZ type [mm/rad]
JOINT // Joint type [rad]
PULSE // Motor pulse type [pulse] or Current type[%]
FORCE // Force sensor type
ROBMON // Robot movement information
FLOAT8 // General purpose, float×8
8-47
Input signal number of
the top
* Ver.R4b/S4b or later
unsigned short
2 byes
1) Communication device → Robot controller
Input signal number of the top (0 to 32767)
2) Robot controller → Communication device
Echo back of send 1)
48-49
Output signal number
of the top
* Ver.R4b/S4b or later
unsigned short
2 byes
1) Communication device → Robot controller
Output signal number of the top (0 to 32767)
2) Robot controller → Communication device
Echo back of send 1)
50-51
Input signal data
* Ver.R4b/S4b or later
unsigned long
4 byes
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
Input signal data(0x00000000-0xffffffff)
52-53
Output signal data
* Ver.R4b/S4b or later
unsigned long
4 byes
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
Output signal data(0x00000000-0xffffffff)
56-57
Communication data
counter
unsigned long
4 byes
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
The number of communications.
To return to the minimum
value 0 and the maximum value by integrating.
60-63
Reply data type 2
unsigned short
2 byes
Same Reply data type 1 64-65
Not used(reserve)
2 byes
Not used
66-67
Reply data 2
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
Same Reply data 1 68-107
Reply data type 3
unsigned short
2 byes
Same Reply data type 1 108-109
Not used (reserve)
2 byes
Not used
110-111
Reply data 3
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
Same Reply data 1 112-151
Reply data type 4
unsigned short 2 byes
Same Reply data type 1
152-153
Not used (reserve)
2 byes
Not used
154-155
Reply data 4
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
Same Reply data 1 156-195