3-19Operation Flow
3Monitor Robot Information
3.1.1 Select Monitoring Items
Here, selects the monitoring functions output by the robot from the sequencer.
Only the data specified by items (set to "1") selected with each bit can be monitored. For more information
on each monitoring data, refer to Page 23, "3.2 Monitoring Item" and after.
(1) Sequencer output data
a) Word data
(2) Robot output data
a) Word data
3.1.2 Select Target Mecha
Here, selects the target mecha number of monitoring data output by the robot from the sequencer.
The robot outputs the data with selected mecha number. The number (1 to 3) is selectable for mecha num-
bers. When the number other than 1 - 3 is specified, the data is initialized (zeros are put in the whole target
area)
(1) Sequencer output data
a) Word data
(2) Robot output data
a) Word data
Sequencer Addr
(offset)
Description Remarks
512
Function selection [Allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
Sequencer Addr
(offset)
Description Remarks
512
Function performing [allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
Sequencer Addr
(offset)
Description Remarks
841 Specify a mecha number [1 - 3]
Sequencer Addr
(offset)
Description Remarks
731 Mecha number [1 - 3]
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