YASKAWA YRC1000micro

HW1484764
Register List
10-1
HW1484764
10. Register List
The following registers are used:
M309
M308
M307
M306
M305
M304
M303
M302
M301
M300
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
M319
M318
M317
M316
M315
M314
M313
M312
M311
M310
Reserved
Reserved
Reserved
Reserved
Estimated
external
torque
value T
Estimated
external
torque
value B
Estimated
external
torque
value R
Estimated
external
torque
value U
Estimated
external
torque
value L
Estimated
external
torque
value S
M329
M328
M327
M326
M325
M324
M323
M322
M321
M320
Reserved
Reserved
Reserved
Estimated
TCP
external
force
value
resultant
Estimated
TCP
external
force Mz
Estimated
TCP
external
force My
Estimated
TCP
external
force Mx
Estimated
TCP
external
force Fz
Estimated
TCP
external
force Fy
Estimated
TCP
external
force Fx
M339
M338
M337
M336
M335
M334
M333
M332
M331
M330
Reserved
Reserved
Reserved
Reserved
Sensor
data T
(CH1)
Sensor
data B
(CH1)
Sensor
data R
(CH1)
Sensor
data U
(CH1)
Sensor
data L
(CH1)
Sensor
data S
(CH1)
M349
M348
M347
M346
M345
M344
M343
M342
M341
M340
Reserved
Reserved
Reserved
Reserved
Sensor
data T
(CH2)
Sensor
data B
(CH2)
Sensor
data R
(CH2)
Sensor
data U
(CH2)
Sensor
data L
(CH2)
Sensor
data S
(CH2)
M359
M358
M357
M356
M355
M354
M353
M352
M351
M350
Reserved
Reserved
Reserved
Reserved
External
torque T:
Maximum
value
External
torque B:
Maximum
value
External
torque R:
Maximum
value
External
torque U:
Maximum
value
External
torque L:
Maximum
value
External
torque S:
Maximum
value
M369
M368
M367
M366
M365
M364
M363
M362
M361
M360
Reserved
Reserved
Reserved
TCP
external
force
resultant:
Maximum
value
TCP
external
force Mz:
Maximum
value
TCP
external
force My:
Maximum
value
TCP
external
force Mx:
Maximum
value
TCP
external
force Fz:
Maximum
value
TCP
external
force Fy:
Maximum
value
TCP
external
force Fx:
Maximum
value
M379
M378
M377
M376
M375
M374
M373
M372
M371
M370
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Each register value is expressed in units of 0.1 [N] (or [Nm]) and output by adding an offset of 10000.
For how to interpret the value, refer to the following examples.
Example:
Register
Value
External force (interpretation)
Calculation method
M310
9500
-50.0 [Nm]
(9500 - 10000)×0.1 = -50.0[Nm]
M321
11055
105.5[N]
(11055 - 10000)×0.1 = 105.5[N]
98/105