3Monitor Robot Information
Monitoring Item 3-32
(2) Data description
The table below lists the content of each data item.
Item Description Setting Value (unit)
Supported
State
Variable
Update
cycle
Position data
4: Direction at the time of
collision
Note1)
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.
Robot's direction when the collision is
detected
Divides the direction at
the time of collision to
components X, Y, Z.
Specify the value with
the proportion when the
P_ColDir 7.1msec
Joint data
3: Difference between
estimated and actual
torques when detect-
ing a collision
Note1)
Maximum difference value between esti-
mated and actual torques when detecting a
collision is valid
[10
-3
%]
J_Colmxl 7.1msec
5: Current instruction Outputs the current instruction value.
[10
-3
Arms]
57msec
6: Maximum current
instruction 1
Outputs the maximum current instruction
value after power-up. Reset when the robot
power supply is shut off.
[10
-3
Arms]
1.8sec
7: Maximum current
instruction 2
Outputs the maximum current instruction
value for past 2sec.
[10
-3
Arms]
1.8sec
8: Current feedback
Outputs the current value generated in the
servo motor.
[10
-3
Arms]
7.1msec
9: Allowable current
instruction, minus side
Outputs the maximum allowable value
(minus side) of the current generated in the
servo motor. * The value may vary according
to jog and automatic operations.
[10
-3
Arms]
7.1msec
10: Allowable current
instruction, plus side
Outputs the maximum allowable value (plus
side) of the current generated in the servo
motor. * The value may vary according to jog
and automatic operations.
[10
-3
Arms]
7.1msec
11: Effective current
Outputs the effective value of current feed-
back.
[10
-3
Arms]
57msec
12: Axis load level
Outputs the motor's load level. The big-
ger this value, the heavier the load on
the motor.
Roughly it should be 80% or less.
* It takes a few minutes until the value will
stable.
[10
-3
%]
1.8sec
13: Maximum axis load
level
Outputs the maximum value of axis load
level after power-up. Reset when the power
supply is shut off.
[10
-3
%]
1.8sec
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