18-392 18-392
Ex-T coordinates speed
Speed of the Ex-T coordinates during execution of
the Ex-T control/the Ex-T spline interpolation
Ex-T coordinates position
The current position in the Ex-T coordinates
Spline path point
of adjusted speed
The path point number that speed adjustment has
occurred during execution of the spline
interpolation/the Ex-T spline interpolation
Speed of a tool center point
（
）
Remaining distance(FB)
[mm]
The remaining distance to the target position (in
mm) while the robot is moving
（
）
Tool point speed(CMD)
[mm/s]
Speed of a tool center point
（
）
Same as status variable values “M_RSpd”
Remaining
distance(CMD)
[mm]
The remaining distance to the target position (in
mm) while the robot is moving（command）.
Same as status variable values “M_RDst”.
Gap of CMD and FB
[mm]
The gap of a command position and a feedback
position.
Same as status variable values “M_Fbd”.
Speed of a tool center point
（
）
Acceleration state(CMD)
The current acceleration/deceleration status.
（command）
[0=Stopped,1=Accelerating, 2 = Constant speed, 3
= Decelerating]
Same as status variable values “M_AclSts”.
Safety input
It turns ON when either safety input signal A or
safety input signal B is OFF.
Consecutive input signal for 32 points
Consecutive output signal for 32 points
Predictive maintenance score
(speed reducer abnormality)
Current abnormality score of reducer (wave gear
device)
Predictive maintenance score
(encoder data error)
Current abnormality score of encoder data
Predictive maintenance score
(encoder communication error)
Current abnormality score of encoder
communication
※High :High speed communication Ord :Ordinary communication
18.1.4. Starting
From the project tree, double-click [Tool] -> [Oscillograph]
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