3-25Monitoring Item
3Monitor Robot Information
3.2.2 Monitor Activities
Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to
the shared memory.
(1) Monitoring data list
<Precautions>
● When the target mecha does not exist, outputs the data zero.
● When the data is dependent on a slot and the slot does not exist which has the control of target mecha,
outputs the data zero. The data dependent on a slot is as follows:
• Current distance remained (M_RDst)
• Arrival factor to the current aimed position (M_Ratio)
• Current acceleration and deceleration state (M_ActSts)
Sequencer
Addr
(offset)
Description
Supported
State Variable
Update
Cycle
810
Current instruction speed [10
-4
mm/s]
M_RSpd
7.1msec
811
812
Current distance remained [10
-4
mm]
M_RDst
813
814
Distance between instructed and feedback positions [10
-4
mm]
M_Fbd
815
816 Arrival factor [%] to the current aimed position M_Ratio
817
Current acceleration and deceleration state
[0: Stopped/ 1: Accelerated/ 2: Constant speed/ 3: Decelerated]
M_AclSts
818
Collision detection [1: Collided/ 0: Otherwise]
Note1)
Note1) Robot state variable (M_ColSts) is "1" for about 7.1ms between collision detection and servo OFF. But, the data
"1" is output to the shared memory for 1sec after the collision is detected.
M_ColSts
819
Going over the limit during performing compliance
[1: Almost go over the limit/ 0: Does not go over the limit]
M_CmpLmt
820 Deviance amount between instructed and actual positions during performing
compliance [10
-4
mm]
M_CmpDst
821
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