3 Description of functions
3-31
Table 3-5 FORCE (N/Nm) data structure
F1 element
Force sensor data[N, Nm] , 32 bytes
F2 element
F3 element
F4 element
F5 element
F6 element
Not used 16 bytes Not used. Value is zero.
Table 3-6 ROBMON (Robot information) data structure
Tool point speed
(feedback)
Speed of a tool center point (feedback) [mm/s]
Remaining distance
(feedback)
The remaining distance to the target position (in
mm) while the robot is moving (feedback).
Tool point speed
(command)
Speed of a tool center point (command)
Same as status variable values “M_RSpd”
Remaining distance
(command)
4 bytes
float
The remaining distance to the target position (in mm) while the robot is moving
(command).
Same as status variable values “M_RDst”.
Gap of command and
feedback
The gap of a command position and a feedback position.
Same as status variable values “M_Fbd”.
Transport factor (command)
Speed of a tool center point (feedback)
Acceleration state
(command)
2 bytes
integer
The current acceleration/deceleration status. (command)
[0=Stopped,1=Accelerating, 2= Constant speed, 3= Decelerating]
Same as status variable values “M_AclSts”.
Step number (Only slot 1), (1-32767)
Program name (Only slot 1)
Max Program name is 6 characters
Controller temperature [0.1°C]
After power-on, +1 is counted from 0 in an operation control cycle unit (64/9 (*1)).
The counting repeats in the range of 0 to 4294967295.
(*1) CR750/CR751 series: approx. 7.111 ms, CR800 series: approx. 3.5 ms (If user mechanical is set, approx. 7.1 ms)
Table 3-7 FLOAT8 (short real) data structure
float (short real), 32 bytes
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