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

3.4.5. Explanation of communication data packet

It describes the structure of the communication packet data to be used in real-time monitoring function. To the robot controller,
I will use the same packet structure on both send and receive from Ethernet communication device. Storage method of
data is little-endian. Real data in 32-bit real number is IEEE754 standard method. Data packet size is 196 bytes fixed.
Name
Command
Not used(reserve)
Reply data type 1
Not used(reserve)
Reply data 1
Input signal number of
the top
* Ver.R4b/S4b or later
Output signal number
of the top
* Ver.R4b/S4b or later
Input signal data
* Ver.R4b/S4b or later
Output signal data
* Ver.R4b/S4b or later
Communication data
counter
Reply data type 2
Not used(reserve)
Reply data 2
Reply data type 3
Not used (reserve)
Reply data 3
Reply data type 4
Not used (reserve)
Reply data 4
Data type
unsigned short
2 byes
2 byes
unsigned short
2 byes
2 byes
Data structure
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8
40 bytes
* Each data structure is
described in Table
Table 3-2, Table 3-3
Table 3-4, Table 3-5
Table 3-6, Table 3-7
unsigned short
2 byes
unsigned short
2 byes
unsigned long
4 byes
unsigned long
4 byes
unsigned long
4 byes
unsigned short
2 byes
2 byes
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
unsigned short
2 byes
2 byes
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
unsigned short 2 byes
2 byes
POSE, JOINT, PULSE,
ROBMON,
FORCE or FLOAT8 40 bytes
Table 3-1 Data packet
Explanation
Specifies the start or end of the real-time monitoring function.
1 // Start of the real-time monitor
255 // End of the real-time monitor
Not used
1) Communication device → Robot controller
Specifies the <Data type ID> of the data that you want to monitor.
2) Robot controller → Communication device
Echo back of send 1)
*Data type ID see [3.4.6
Not used
1) E Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
The output data sent back from the controller.
Data type is seeing in the return data type.
*Data structure
POSE // XYZ type [mm/rad]
JOINT // Joint type [rad]
PULSE // Motor pulse type [pulse] or Current type[%]
FORCE // Force sensor type
ROBMON // Robot movement information
FLOAT8 // General purpose, float×8
1) Communication device → Robot controller
Input signal number of the top (0 to 32767)
2) Robot controller → Communication device
Echo back of send 1)
1) Communication device → Robot controller
Output signal number of the top (0 to 32767)
2) Robot controller → Communication device
Echo back of send 1)
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
Input signal data(0x00000000-0xffffffff)
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
Output signal data(0x00000000-0xffffffff)
1) Communication device → Robot controller
Not used. Set to zero.
2) Robot controller → Communication device
The number of communications.
value 0 and the maximum value by integrating.
Same Reply data type 1
Not used
Same Reply data 1
Same Reply data type 1
Not used
Same Reply data 1
Same Reply data type 1
Not used
Same Reply data 1
3 Description of functions
Data type ID
]
To return to the minimum
Address
0-1
2-3
4-5
6-7
8-47
48-49
50-51
52-53
56-57
60-63
64-65
66-67
68-107
108-109
110-111
112-151
152-153
154-155
156-195
3-29