Explanation Of Command - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3.3.1. Explanation of command

Either the MELFA-BASIC V command languages can be used with the real-time external control function.
Note that the meanings of the arguments differ for the MELFA-BASIC V commands. (Refer to following format and
terminology.)
Refer to section "3.3.2 Explanation of communication data packet" for details on the structure of the communication data
packet used with this function.
MXT (Move External)
[Function]
The absolute position data is retrieved from an external source at each controller control time, and the robot is directly
moved. The controller control time is approx. 7.11 msec with the CR750/CR751 series, and approx. 3.5 msec with the
CR800 series (approx. 7.11 msec when user mechanical is set).
[Format]
MXT <File No.>, <Reply position data type> [, <Filter time constant>]
[Terminology]
<File No.>
<Replay position data type>
<Filter time constant>
[Reference Program]
1 OPEN "ENET:192.168.0.2" AS #1
2 MOV P1
3 MXT1,1,50
4 MOV P1
5 HLT
Describe a number between 1 and 8 assigned with the OPEN command.
If the communication destination is not designated with the OPEN command, an
error will occur, and communication will not be possible.
In addition, data received from a source other than the communication destination
will be ignored.
Designate the type of the position data to be received from the personal computer.
A XYZ/joint/motor pulse can be designated.
0: XYZ coordinate data
1: Joint coordinate data
2: Motor pulse coordinate data
Designate the filter time constant (msec). If 0 is designated, the filter will not be
applied. (0 will be set when omitted.) A filter is applied on the reception position
data, an obtuse command value is created and output to the servo.
'Ethernet communication destination IP address
'Move to P1
'Move with real-time external control with filter time constant set to
50msec
'Move to P1
'Halt program
3 Description of functions
3-15