Mitsubishi Electric MELFA BFP-A8787-F - Page 38

3-27Monitoring Item
3Monitor Robot Information
<Precautions>
• When the target mecha and axis do not exist, outputs the data zero.
• When the origin is not established, outputs zero for the both perpendicular and joint components of current
position.
(2) Data description
[Perpendicular data]
• The unit is 10
-4
mm or 10
-4
deg.
• Only lower one word is used for the structure flag. Upper one word is a reserved area.
[Joint data]
• The unit is 10
-4
mm or 10
-4
deg.
870
Current position (joint)
J1 coordinate value [10
-4
mm/10
-4
deg]
871
872
J2 coordinate value [10
-4
mm/10
-4
deg]
873
874
J3 coordinate value [10
-4
mm/10
-4
deg]
875
876
J4 coordinate value [10
-4
mm/10
-4
deg]
877
878
J5 coordinate value [10
-4
mm/10
-4
deg]
879
880
J6 coordinate value [10
-4
mm/10
-4
deg]
881
882
J7 coordinate value [10
-4
mm/10
-4
deg]
883
884
J8 coordinate value [10
-4
mm/10
-4
deg]
885
886
Aimed position (joint)
J1 coordinate value [10
-4
mm/10
-4
deg]
887
888
J2 coordinate value [10
-4
mm/10
-4
deg]
889
890
J3 coordinate value [10
-4
mm/10
-4
deg]
891
892
J4 coordinate value [10
-4
mm/10
-4
deg]
893
894
J5 coordinate value [10
-4
mm/10
-4
deg]
895
896
J6 coordinate value [10
-4
mm/10
-4
deg]
897
898
J7 coordinate value [10
-4
mm/10
-4
deg]
899
900
J8 coordinate value [10
-4
mm/10
-4
deg]
901
Sequencer
Addr
(offset)
Description
Update
Cycle