Mitsubishi Electric CR800 Series - Cut, Copy, and Paste Lines

3 Description of functions
3-32
3.4.6. Data type ID
The type of data that can be monitored in real-time monitor function.
Table 3-8 Data type ID
ID
Contents
Data structure
Ver.
0
no data
–
R3n/S3n or
later
1
XYZ position (Command) *Angle in radians
POSE
2
Joint position (Command) *Angle in radians
JOINT
3
Motor pulse position (Command)
PULSE (Long×8)
7
XYZ position (Feedback) *Angle in radians
POSE
8
Joint position (Feedback) *Angle in radians
JOINT
9
Motor pulse position (Feedback)
PULSE (Long×8)
10
Current command [0.1% rate]
PULSE (Long×8)
11
Current feedback [0.1% rate]
PULSE (Long×8)
12
Robot information
ROBMON
13
Position droop
PULSE (Long×8)
R4b/S4b or
later
14
Speed (Command) [rpm]
PULSE (Long×8)
15
Speed (Feedback) [rpm]
PULSE (Long×8)
16
Axis load level [%]
FLOAT8(Float×8)
17
Encoder temperature [°C]
PULSE (Long×8)
18
Encoder misscount
PULSE
19
Motor voltage [V]
PULSE (Long×8)
20
Regeneration level [%]
PULSE (Long×8)
21
Tolerable command + [0.1% rate]
PULSE (Long×8)
22
Tolerable command - [0.1% rate]
PULSE (Long×8)
23
RMS current [0.1% rate]
PULSE (Long×8)
101
Force sensor current position xyz[N]abc[Nm]
FORCE (Float×8)
R3n/S3n or
later
102
Force sensor original data (after offset cancel) xyz[N]abc[Nm]
FORCE (Float×8)
103
Force sensor original data (before offset cancel) xyz[N]abc[Nm]
FORCE (Float×8)
104
Position command of the force sensor correction
POSE
111
COL presumed torque [0.1% rate]
PULSE (Long×8)
112
COL threshold + [0.1% rate]
PULSE (Long×8)
113
COL threshold - [0.1% rate]
PULSE (Long×8)
1001
XYZ position (Command) *Angle in degrees
POSE
R4b/S4b or
later
1002
Joint position (Command) *Angle in degrees
JOINT
1007
XYZ position (Feedback) *Angle in degrees
POSE
1008
Joint position (Feedback) *Angle in degrees
JOINT
1010
Current command [Arms]
FLOAT8 (Float×8)
1011
Current feedback [Arms]
FLOAT8 (Float×8)
1012
Tolerable command + [Arms]
FLOAT8 (Float×8)
1013
Tolerable command - [Arms]
FLOAT8 (Float×8)
1014
RMS current [Arms]
FLOAT8 (Float×8)