Mitsubishi Electric CR750-Q Instruction Manual page 610

7Appendix
Reply input/output signal
data designation
RecvIOType
Input/output signal data
BitTop
BitMask
IoData
Timeout time counter value
Tcount
Counter value for communi-
cation data
Ccount
Reply data-type specification
addition 1
RecvType1
Reservation 1
reserve1
Data addition 1
pos / jnt / pls
Reply data-type specification
addition 2
RecvType2
Reservation 2
Reserve2
Data addition 2
pos / jnt / pls
Appendix-590 Real-time external control function
unsigned short
1) When transmitting (commanding) from the personal computer to the
(2-byte)
controller, designate the data type of the input/output signal
replied from the controller.
Designate "No data" when not using this function.
0 //
1 //
2 //
2) When receiving (monitoring) from the controller to the personal
computer, Not used.
1) When transmitting (commanding) from the personal computer to the
unsigned short
controller, designate the output signal data transmitted from the
unsigned short
personal computer.
unsigned short
(2-byte x 3)
2) When receiving (monitoring) from the controller to the personal
computer, this indicates the input/output signal data replied from
the controller.
The contents of the data are common.
BitTop;
BitMask; //
IoData;
unsigned short
1) When transmitting (commanding) from the personal computer to the
(2-byte)
controller, Not used.
2) When receiving (monitoring) from controller to personal
computer, if the timeout time parameter MXTTOUT is a value other
than -1, this indicates the No. of times communication with the
controller was not possible. When the No. of times is counted and
reaches the maximum value, the value will return to the minimum
value 0, and the count will be repeated. This is set to 0 when the
MXT command is started.
unsigned long
1) When transmitting (commanding) from the personal computer to the
(4-byte)
controller, Not used.
2) When receiving (monitoring) from controller to personal
computer, this indicates the No. of communication times. When the
No. of times is counted and reaches the maximum value, the value
will return to the minimum value 0, and the count will be repeated.
This is set to 0 when the MXT command is started.
unsigned short
It is the same as reply data-type specification (RecvType).
(2-byte)
Don't use it for instructions.
unsigned short
Not used.
(2-byte)
Any of POSE/
It is the same as data of pos/jnt/pls.
JOINT/PULSE.
Don't use it for instructions.
(40-byte)
unsigned short
It is the same as reply data-type specification (RecvType).
(2-byte)
Don't use it for instructions.
unsigned short
Not used
(2-byte)
Any of POSE/
It is the same as data of pos/jnt/pls.
JOINT/PULSE.
Don't use it for instructions.
(40-byte)
No data
Output signal
Input signal
// Head bit No. of input or output signal
Bit mask pattern designation (valid only for
commanding)
// Input or output signal data value (for monitoring)
Output signal data value (for commanding)
* Data is 16-bit data