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Detailed explanation of command words
Mxt (Move External)
[Function]
The real-time external control function by ethernet I/F
The absolute position data is retrieved from an external source at each controller control time (currently
approx 7.1msec), and the robot is directly moved.
[Format]
[Terminology]
<File No.>
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.
<Replay position data type>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
<Filter time constant>
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.
[Reference Program]
1 Open "ENET:192.168.0.2" As #1’Set Ethernet communication destination IP address
2 MovP1
’Move to P1
3 Mxt1,1,50
’Move with real-time external control with filter time constant set to 50msec
4 Mov P1
’Move to P1
5 Hlt
’Halt program
[Explanation]
(1) When the Mxt command is executed, the position command for movement control can be retrieved from
the personal computer connected on the network. (One-on-one communication)
(2) One position command can be retrieved and operated at the operation control time (currently 7.1msec).
(3) Operation of Mxt command
1) When this command is executed with the controller, the controller enters the command value recep-
tion enabled state.The workpiece grasp/not grasp for when the hand is opened or closed is set with
parameter HNDHOLD 1 to 8.
2) When the controller receives the command value from the personal computer, it will output the
received command value to the servo within the next control process cycle.
3) After the command value is sent to the servo, the controller information, such as the current position is
sent from the controller to the personal computer.
4) A reply is made from the controller to the personal computer only when the command value from the
personal computer is sent to the controller.
5) If the data is not received, the current position is maintained.
6) When the real-time external command end command is received from the personal computer, the Mxt
command is ended.
7) When the operation is stopped from the operating panel or external input, the Mxt command will be
halted, and the transmission/reception will also be halted until restart.
(4) The timeout is designated with the parameter MXTTOUT.
(5) One randomly designated (head bit, bit width) input/output signal can be transmitted and received simul-
taneously with the position data.
(6) A personal computer with sufficient processing speed must be used to command movement in the
movement control time.
(7) Refer to
Page 489, "5.15 About the communication setting (Ethernet)"
for details.
A Windows NT or 2000/Pentium II 450MHz or higher console application is recommended.
[Related instructions]
Mxt <File No.>, <Reply position data type> [, <Filter time constant>]
