Mitsubishi Electric MELFA BFP-A8787-F - Monitoring Item; Monitor Operation Control Setting Values

3-23Monitoring Item
3Monitor Robot Information
3.2 Monitoring Item
3.2.1 Monitor Operation Control Setting Values
Here, periodically outputs the robot's operation control commands and the setting values for operation con-
trol to the shared memory.
(1) Monitoring data list
Sequencer Addr
(Offset)
Description
Supported
State
Variable
Update
Cycle
777
ColChk setting value Collision detection setting [0: Invalid/ 1: Valid (error
occurred)/ 2: Valid (error not occurred)
7.1msec
778 ColLvl setting value Collision detection level, J1 axis [%: 1 - 500]
779 Collision detection level, J2 axis [%: 1 - 500]
780 Collision detection level, J3 axis [%: 1 - 500]
781 Collision detection level, J4 axis [%: 1 - 500]
782 Collision detection level, J5 axis [%: 1 - 500]
783 Collision detection level, J6 axis [%: 1 - 500]
784 (Reserved)
785 (Reserved)
794
CMP Pos/Tool/Jnt set-
ting values
Compliance coordinate type
[0: Invalid/ 1: Perpendicular/ 2: Tool/ 3: Joint]
795
Specify a compliance coordinate type [Specify target
axis with bit]
[Setting values to specify compliance axis of CMP
Pos/Tool/Jnt setting values]
The values below are set by setting up bit:
bit7 0
00000000
|||||||+---bit0:J1/X axis
||||||+----bit1:J2/Y axis
|||||+-----bit2:J3/Z axis
||||+------bit3:J4/A axis
|||+-------bit4:J5/B axis
||+--------bit5:J6/C axis
|+---------bit6:(Reserved)
+----------bit7:(Reserved)
796
CmpG setting value
Compliance J1/X axis gain [10
-2
: 1 - 100]
797
Compliance J2/Y axis gain [10
-2
: 1 - 100]
798
Compliance J3/Z axis gain [10
-2
: 1 - 100]
799
Compliance J4/A axis gain [10
-2
: 1 - 100]
800
Compliance J5/B axis gain [10
-2
: 1 - 100]
801
Compliance J6/C axis gain [10
-2
: 1 - 100]
802 (Reserved)
803 (Reserved)
804
MvTune/Prec setting val-
ues
Operation characteristic [1: Standard/ 2: High-
speed/ 3: Track preferred/ 4: Vibration restricted]