3Monitor Robot Information
Monitoring Item 3-30
(2) Position and Joint Data
(1) Data list
b) Robot output
Sequencer
Addr
(offset)
Description
910
Position data [1 - 4]
1: (Reserved)
2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
X coordinate value
911
912
Y coordinate value
913
914
Z coordinate value
915
916
A coordinate value
917
918
B coordinate value
919
920
C coordinate value
921
922
L1 coordinate value
923
924
L2 coordinate value
925
926
Structure flag
927
928
Multi-turn data
929
930
Joint data-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
J1 coordinate value
931
932
J2 coordinate value
933
934
J3 coordinate value
935
936
J4 coordinate value
937
938
J5 coordinate value
939
940
J6 coordinate value
941
942
J7 coordinate value
943
944
J8 coordinate value
945
946
Joint data-2 [1 - 13]
* The data is similar to Joint data-1.
J1 coordinate value
947
948
J2 coordinate value
949
950
J3 coordinate value
951
952
J4 coordinate value
953
954
J5 coordinate value
955
956
J6 coordinate value
957
958
J7 coordinate value
959
960
J8 coordinate value
961
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