Acquirable Data - Mitsubishi Electric MELFA FR CR800 Series User Manual

18.1.3. Acquirable data

The list of the data that can be acquired from the robot is shown below.
Notation on the graph
Current feedback
Max current cmd2
Max current cmd1
Axis load level
Max axis load level
Position feedback
Joint position(CMD)
XYZ position(CMD)
Joint position (FB)
XYZ position (FB)
Position droop
Speed (FB)
Voltage
RMS current
Regeneration level
Encoder temperature
Current command
Tolerable command +
Tolerable command -
Force sensor
Force sensor(+resultants)
Force pos CMD(XYZ)
COL threshold +
COL threshold -
COL presumed torque
COL torque
Ref. value of COL level
Error of presumed torque
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Table 18-3 Oscillograph data list
Unit
Present value of the motor current.
[Arms]
The maximum value of the current command for
[Arms]
the previous 2 seconds.
The maximum value of the current command after
[Arms]
robot controller power supply is turned on.
A preset load ratio of each motor is displayed as an
[%]
alarm level.
The maximum value of the axis load level after
[%] robot controller's power supply is turned on is
displayed.
Current motor rotation position is displayed in
[Pulse]
encoder pulse value.
Joint position (command)
[mm deg]
XYZ position (command)
[mm deg]
Joint position (feedback)
[deg]
[mm deg] XYZ position (feedback)
The amount of deflection at the motor rotation
[Pulse]
position to a position command is shown.
The feedback of the motor speed is displayed by
[rpm]
the unit of rpm.
[V] A present power-supply voltage value is displayed.
Present RMS value of the motor current is
[Arms]
displayed.
The regenerative current value of each axis is
[%]
displayed as an alarm level.
Temperature of the encoder of each axis
[deg C]
Correspondence since F series.
[Arms] The current command of the motor.
The limitation value of the plus side of the current
[Arms]
command set to the motor.
The limitation value of the minus side of the current
[Arms]
command set to the motor is displayed.
[N Nm] The input value from a force sensor.
The input value from a force sensor (The resultant
[N Nm]
force and resultant moment values exist).
Force sense position command(XYZ)
[mm rag]
[0.1%]
The higher rank side detection threshold of a
rated
collision detection function (plus side)
current
[0.1%]
The higher rank side detection threshold of a
rated
collision detection function (minus side)
current
[0.1%]
Presumed torque of the collision detection function.
rated
current
[0.1%]
Actual torque of the collision detection function.
rated
current
[%] Show the gap between the estimated torque and
actual torque by COL level (The values of COLLVL
command, COLLVL and COLLVLJG parameters).
The value is shown if COL is enabled and servo
ON.
[% The absolute value of the error between the
rating] estimated torque and actual torque of each axis.
You can get this value only if the torque monitoring
function of safety option is enabled.
Explanation High Ord
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