Explanation Of Communication Data Packet - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3.3.2. Explanation of communication data packet

The structure of the communication data packet used with the real-time external control function is explained in this section.
The same communication data packet for real-time external control is used for commanding the position and for monitoring.
The contents differ when transmitting (commanding) from the personal computer to the controller and when receiving
(monitoring) from the controller to the personal computer.
Create an application referring to the communication data packet structure described in the following table and section
"4.2.2. Sample program for real-time external control function". Note that the following table shows the data types in the C
language.
(1) Communication data packet.
Name
Command
Transmission data type
designation
SendType
Data type
unsigned short Designate the validity of the real-time external command, and the end.
(2-byte)
unsigned short 1) When transmitting (commanding) from the personal computer to the
(2-byte) controller, designate the type of position data transmitted from the
personal computer.
There is no data at the first transmission.
2) When receiving (monitoring) from the controller to the personal
computer, indicate the type of position data replied from the controller.
* It is the same as RecvType. You may use whichever.
Explanation
0 // Real-time external command invalid
1 // Real-time external command valid
255 // Real-time external command end
0 // No data
1 // XYZ data
2 // Joint data
3 // Motor pulse data
0 // No data
1 // XYZ data
2 // Joint data
3 // Motor pulse data
4 // XYZ data (Position after filter process)
5 // Joint data (Position after filter process)
6 // Motor pulse data (Position after filter process)
7 // XYZ data (Encoder feedback value)
8 // Joint data (Encoder feedback value)
9 // Motor pulse data (Encoder feedback value)
10 // Current command [%]
11 // Current feedback [%]
3 Description of functions
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