Mitsubishi Electric MELFA BFP-A8787-F - 3 Monitor Robot Information

3-17
3Monitor Robot Information
3 Monitor Robot Information
The Table 3-1 lists the robot information monitored from sequencer.
Setting values are also monitored during performing sequencer direct.
Table 3-1:Monitoring item list
No Item Description I/F betw Robots
Update
Cycle
Mecha No
Setting
Section
No
1 Monitor operation
control setting val-
ues
Monitors the setting values relating to
operation control command and opera-
tion control
Monitoring output
(Robot side peri-
odically updates
the data in
shared memory
7.1msec
○
(necessary)
"3.2.1"
2 Monitor activities Monitors the robot's activities (current
speed, arrival factor to the aimed posi-
tion, etc.)
7.1msec
○
"3.2.2"
3 Monitor current
and aimed posi-
tions
Monitors current and aimed positions of
robot
7.1msec
○
"3.2.3"
4 Monitor position
and joint informa-
tion
Monitors various position type data (ori-
entation at collision, etc.) and joint type
data (current value, load factor, etc.)
Differ accord-
ing to items
○
"3.2.4"
5 Monitor mainte-
nance information
Monitors the maintenance information
(battery and grease remaining times)
Depending
on the
parameter
MFINTVL
○
"3.2.5"