Starting - Mitsubishi Electric MELFA CR750 Series User Manual

Ex-T coordinates position
Spline path point
of adjusted speed
Tool point speed(FB)
Remaining distance(FB)
Tool point speed(CMD)
Remaining
distance(CMD)
Gap of CMD and FB
Transport factor(CMD)
Acceleration state(CMD)
Controller temperature
INPUT
OUTPUT
※High :High speed communication Ord :Ordinary communication

16.3.4. Starting

From the project tree, double-click [Tool] -> [Oscillograph]
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the Ex-T control/the Ex-T spline interpolation
[mm deg] The current position in the Ex-T coordinates
- The path point number that speed adjustment has
occurred during execution of the spline
interpolation/the Ex-T spline interpolation
[mm/s] Speed of a tool center point（feedback）
The remaining distance to the target position (in
[mm]
mm) while the robot is moving（feedback）.
Speed of a tool center point（command）
[mm/s]
Same as status variable values "M_RSpd"
The remaining distance to the target position (in
[mm] mm) while the robot is moving（command）.
Same as status variable values "M_RDst".
The gap of a command position and a feedback
position.
[mm]
Same as status variable values "M_Fbd".
[%] Speed of a tool center point（feedback）
- The current
（command）
[0=Stopped,1=Accelerating, 2 = Constant speed, 3
= Decelerating]
Same as status variable values "M_AclSts".
[deg C] Controller temperature
- Consecutive input signal for 32 points
- Consecutive output signal for 32 points
Figure 16-27 Starting the Oscillograph
acceleration/deceleration
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