Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual page 56

3 Description of functions
X element
Y element
Z element
A element
B element
C element
L1 element
L2 element
FL1(Structure flag 1)
FL2(Structure flag 2)
J1 element
J2 element
J3 element
J4 element
J5 element
J6 element
J7 element
J8 element
Not used
M1 element
M2 element
M3 element
M4 element
M5 element
M6 element
M7 element
M8 element
Not used
3-30
Table 3-2 POSE (XYZ) data structure
4 bytes
float
4 bytes
float
4 bytes
float
4 bytes
float
4 bytes
XYZ data [mm / rad], 40 bytes
float
* Data type 1 and 7 is unit of radians.
4 bytes
Data type 1001 and 1007 is unit of degrees.
float
4 bytes
float
4 bytes
float
4 bytes
long
4 bytes
long
Table 3-3 JOINT data structure
4 bytes
float
4 bytes
float
4 bytes
float
4 bytes
Joint data [rad], 32 bytes
float
* Data type 2 and 8 is unit of radians.
4 bytes
Data type 1002 and 1008 is unit of degrees.
float
4 bytes
float
4 bytes
float
4 bytes
float
8 bytes Not used. Value is zero.
Table 3-4 PULSE (Pulse/%) data structure
4 bytes
long
4 bytes
long
4 bytes
long
4 bytes
long
Motor pulse data or current data [0.1% rate] , 32 bytes
4 bytes
long
4 bytes
long
4 bytes
long
4 bytes
long
8 bytes Not used. Value is zero.