3Monitor Robot Information
Monitoring Item 3-28
3.2.4 Monitor Position and Joint Information
Here, periodically outputs the robot's various position type and joint type data to the shared memory.
The
sequencer selects the data output by the robot. The area exists for one pieces of position type data and
three pieces of joint type data and the data output for monitoring can be individually set by the sequencer.
(1) Select Position and Joint Data
In the sequencer, set up the number for position and joint data output by the robot.
The robot outputs the monitoring data corresponding to the selected data number.
The area exists for one pieces of position type data and three pieces of joint type data and the data can be
individually set.
When the sequencer specifies the data with the number which is out of range, the robot sets all monitoring
data to zero.
(1) Data list
a) Sequencer output
b) Robot output
Sequencer
Addr
(offset)
Description
850
Position data selection [1 - 4]
1: (Reserved)
2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
851
Joint data selection-1 [1 - 13]
1: (Reserved)
2: (Reserved)
3: Difference between estimated and actual torques when detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
852
Joint data selection-2 [1 - 13]
For setting values, refer to 851 above.
853
Joint data selection-3 [1 - 13]
For setting values, refer to 851 above.
Sequencer
Addr
(offset)
Description
906 Position data number [1 - 4]
907 Joint data number-1 [1 - 13]
908 Joint data number-2 [1 - 13]
909 Joint data number-3 [1 - 13]
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