YASKAWA YRC1000micro

HW1484764
Functional Overview
2-10
HW1484764
2.8. External Force Monitor Output
The estimated external force values and sensor data are output to the M registers as shown below:
Register number
Unit
Estimated external torque values
for each axis
M310 to 317
[0.1Nm]
Estimated TCP external force
values
M320 to 326
[0.1N]
Sensor data for each axis (CH1)
M330 to 335
-
Sensor data for each axis (CH2)
M340 to 345
-
Also, you can check these values on the programming pendant by selecting {SAFETY FUNC.} -
{External Force Monitor} from the programming pendant main menu.
Maximum value reset button
- Press to reset all the force/torque maximum
values to zero.
Maximum value
- Displays the maximum of the absolute value
of the accumulated force/torque values.
Estimated external torque values
for each axis
Estimated TCP external force values
Monitor screen exit button
- Press to exit from the monitor screen.
Sensor output data for each axis
External force judgment marks
- A black circle (●) appears if the
force/torque exceeds the limit.
A white circle (○) appears if the
force/torque is within the limit.
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