Mitsubishi Electric CR750-Q Instruction Manual page 609

Reply data type designation
RecvType
Reservation
reserve
Position data
Pos / jnt / pls
Transmission input/output
signal data designation
SendIOType
unsigned short
1) When transmitting (commanding) from the personal computer to the
(2-byte)
controller, designate the type of data replied from the controller.
0 //
1 //
2 //
3 //
4 //
5 //
6 //
7 //
8 //
9 //
10 //
11 //
2) When receiving (monitoring) from the controller to the personal
computer, indicate the type of position data replied from the
controller.
0 //
1 //
2 //
3 //
4 //
5 //
6 //
7 //
8 //
9 //
10 //
11 //
* It is the same as RecvType. You may use whichever.
unsigned short
Not used.
(2-byte)
POSE, JOINT or
1) When transmitting (commanding) from the personal computer to the
PULSE (40-byte)
controller, designate the command position data transmitted from
* Refer to the personal computer.
strdef.h in the Set this to the same data type as that designated for the
sample program transmission data type designation.
for details on
each data 2) When receiving (monitoring) from the controller to the personal
structure. computer, this indicates the position data replied from the
controller.
The data type is shown in SendType (= RecvType ) .
The contents of data are common to command/monitor.
POSE
JOINT // Joint type [rad]
PULSE // Motor pulse type [the pulse] or Current type [%].
unsigned short
1) When transmitting (commanding) from the personal computer to the
(2-byte)
controller, designate the data type of the input/output signal
transmitted from the personal computer.
Designate "No data" when not using this function.
2) When receiving (monitoring) from the controller to the personal
computer, this indicates the data type of the input/output signal
replied from the controller.
The contents of the data are common.
0 //
1 //
2 //
No data
XYZ data
Joint data
pulse data
XYZ data (Position after filter process)
Joint data (Position after filter process)
Motor pulse data (Position after filter process)
XYZ data (Encoder feedback value)
Joint data (Encoder feedback value)
Motor pulse data (Encoder feedback value)
Current command [%]
Current feedback [%]
No data
XYZ data
Joint data
Motor pulse data
XYZ data (Position after filter process)
Joint data (Position after filter process)
Motor pulse data (Position after filter process)
XYZ data (Encoder feedback value)
Joint data (Encoder feedback value)
Motor pulse data (Encoder feedback value)
Current command [%]
Current feedback [%]
// XYZ type [mm/rad]
No data
Output signal
Input signal
Real-time external control function Appendix-589
7Appendix