Mitsubishi Electric 3F-14C-WINE, User Manual

Page: 392 / 646

18-392 18-392
Ex-T coordinates speed
[mm/s] Speed of the Ex-T coordinates during execution of
the Ex-T control/the Ex-T spline interpolation
○
-
Ex-T coordinates position [mm deg] The current position in the Ex-T coordinates
○
-
Spline path point
of adjusted speed
- The path point number that speed adjustment has
occurred during execution of the spline
interpolation/the Ex-T spline interpolation
○
-
Tool point speed(FB) [mm/s] Speed of a tool center point
（
feedback
）
○
-
R
ob
ot
i
nf
or
m
at
ion
Remaining distance(FB) [mm]
The remaining distance to the target position (in
mm) while the robot is moving
（
feedback
）
.
○
-
Tool point speed(CMD)
[mm/s]
Speed of a tool center point
（
command
）
Same as status variable values “M_RSpd”
○
-
Remaining
distance(CMD)
[mm]
The remaining distance to the target position (in
mm) while the robot is moving
（
command
）
.
Same as status variable values “M_RDst”.
○
-
Gap of CMD and FB [mm]
The gap of a command position and a feedback
position.
Same as status variable values “M_Fbd”.
○
-
Transport factor(CMD)
[%]
Speed of a tool center point
（
feedback
）
○
-
Acceleration state(CMD)
- The current acceleration/deceleration status.
（
command
）
[0=Stopped,1=Accelerating, 2 = Constant speed, 3
= Decelerating]
Same as status variable values “M_AclSts”.
○
-
Controller temperature [deg C] Controller temperature
○ ○
Safety input
- It turns ON when either safety input signal A or
safety input signal B is OFF.
○
-
Safety input signal A - Input signals 128 to 135
○
-
Safety input signal B - Input signals 160 to 167
○
-
INPUT - Consecutive input signal for 32 points
○
-
OUTPUT - Consecutive output signal for 32 points
○
-
Predictive maintenance score
(speed reducer abnormality) - Current abnormality score of reducer (wave gear
device)
○
-
Predictive maintenance score
(encoder data error) -
Current abnormality score of encoder data
○
-
Predictive maintenance score
(encoder communication error) - Current abnormality score of encoder
communication
○
-
※
High :High speed communication Ord :Ordinary communication
18.1.4. Starting
From the project tree, double-click [Tool] -> [Oscillograph]