Position And Joint Data - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

(2) Position and Joint Data

(1) Data list
b) Robot output
Sequencer
Addr
(offset)
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
Position data [1 - 4]
1: (Reserved)
2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
Joint data-1 [1 - 13]
1: (Reserved)
2: (Reserved)
3: Difference between estimated and actual torques when
detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
Joint data-2 [1 - 13]
* The data is similar to Joint data-1.
Description
X coordinate value
Y coordinate value
Z coordinate value
A coordinate value
B coordinate value
C coordinate value
L1 coordinate value
L2 coordinate value
Structure flag
Multi-turn data
J1 coordinate value
J2 coordinate value
J3 coordinate value
J4 coordinate value
J5 coordinate value
J6 coordinate value
J7 coordinate value
J8 coordinate value
J1 coordinate value
J2 coordinate value
J3 coordinate value
J4 coordinate value
J5 coordinate value
J6 coordinate value
J7 coordinate value
J8 coordinate value
3Monitor Robot Information
Monitoring Item 3-30