Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 43

(2) Data description
The table below lists the content of each data item.
Item
4: Direction at the time of
Note1)
collision
3: Difference between
estimated and actual
torques when detect-
Note1)
ing a collision
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
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.
Description
Robot's direction when the collision is
detected
Maximum difference value between esti-
mated and actual torques when detecting a
collision is valid
Outputs the current instruction value.
Outputs the maximum current instruction
value after power-up. Reset when the robot
power supply is shut off.
Outputs the maximum current instruction
value for past 2sec.
Outputs the current value generated in the
servo motor.
Outputs the maximum allowable value
(minus side) of the current generated in the
servo motor. * The value may vary according
to jog and automatic operations.
Outputs the maximum allowable value (plus
side) of the current generated in the servo
motor. * The value may vary according to jog
and automatic operations.
Outputs the effective value of current feed-
back.
Outputs the motor's load level. The big-
ger this value, the heavier the load on
the motor.
Roughly it should be 80% or less.
* It takes a few minutes until the value will
stable.
Outputs the maximum value of axis load
level after power-up. Reset when the power
supply is shut off.
3Monitor Robot Information
Supported
Setting Value (unit)
Divides the direction at P_ColDir
the time of collision to
components X, Y, Z.
Specify the value with
the proportion when the
J_Colmxl
-3
[10 %]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 Arms]
-3
[10 %]
-3
[10 %]
Monitoring Item 3-32
Update
State
cycle
Variable
7.1msec
7.1msec
57msec
1.8sec
1.8sec
7.1msec
7.1msec
7.1msec
57msec
1.8sec
1.8sec