Sample Ladder - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

3Monitor Robot Information

3.1.4 Sample Ladder

Here, shows the sample ladder to retrieve current and aimed positions and maintenance information into
the internal device by specifying the monitoring item and mecha number.
[Target function]
Select monitoring items (monitoring current and aimed positions, monitoring data of maintenance infor-
mation) and mecha
[Target robot]
The target robot is robot 2 of multiple CPUs (robot's multiple CPU input offset parameter is initial value)
[Description]
When the device with desired function to be monitored is set to "ON" of monitoring request (M14) for cur-
rent and aimed positions, monitoring request (M15) for maintenance information, and device of selecting
mechas 1 - 3 (M21 - M23), target data is output to the internal device for monitoring.
The data of current and aimed positions is stored in D1000 - D1071.
The data of maintenance information is stored in D1100 - D1133.
Example:
To output the current and aimed positions data of mecha 1, set M14 and M21 to "ON" (M22 and M23 are
"OFF") to output the monitoring data to D1000 to D1071.
To output the maintenance information data of mecha 1, set M16 and M21 to "ON" (M22 and M23 are
"OFF") to output the monitoring data to D1100 to D1133.
[Device details]
M14: Request to monitor the current and aimed positions
M16: Request to monitor the maintenance information
M21: Selects mecha 1
M22: Selects mecha 2
M23: Selects mecha 3
M34: Monitoring the current and aimed positions
M36: Monitoring the maintenance information
M41: Mecha 1 selected
M42: Mecha 2 selected
M43: Mecha 3 selected
D1000 - D1071: Stores the current and aimed positions data from the robot
D1100 - D1133: Stores the monitoring data of maintenance information from the robot
3-21Operation Flow