Mitsubishi Electric GOT 1000 Series, Connection Manual

Page: 105 / 436

2. CONNECTION TO IAI ROBOT CONTROLLER
2.6 Device Range that Can Be Set
2 - 27
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(6) Program Status device
(7) System Status device
(8) Coordinate Affiliate Data device
(9) Servo device
(10)Write to Flash ROM device
(11) Integer device
(12)Real device
Obtained data:
000 to 003: Program number 1 status
000: Status
Bit 3 (Reserved for system use)
Bit 2 (Reserved for system use)
Bit 1 (Reserved for system use)
Bit 0 (Start): 0 = Not started / 1 = Started
001: Execution program step number
002: Program-dependent error code
003: Error occurrence step number
004 to 007: Program number 2 status
508 to 511: Program number 128 status
PGST 000
Obtained data:
0: System mode
0 = Indeterminable / 1 = AUTO mode / 2 = MANUAL mode
/ 3 = Slave update mode / 4 = Core update mode
1 Critical level system error number
2: Latest system error number
3: System status byte 1
Bit 7 (Reserved for system use)
Bit 6 (Battery voltage error status) : 0 = No error / 1 = Error
Bit 5 (Battery voltage low warning status): 0 = No low / 1 = Low
Bit 4 (Power error status): 0 = Normal / 1 = Error
Bit 3 (Emergency stop switch status):
0 = No emergency stop / 1 = Emergency stop
Bit 2 (Safety gate status): 0 = CLOSE / 1 = OPEN
* X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL: Enable switch
(Deadman switch / Enable switch) status is indicated.
Bit 1 (TP enable switch status): 0 = ON / 1 = OFF
* X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL:
This bit is disabled (fixed to 0).
Bit 0 (Operation mode switch status): 0 = AUTO / 1 = MANUAL
4: System status byte 2
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Program run status): 0 = Not run / 1 = Running
Bit 4 (Restart wait status): 0 = Not waiting / 1 = Waiting
Bit 3 (I/O interlock status): 0 = No interlock / 1 = Interlock
Bit 2 (Servo interlock status): 0 = No interlock / 1 = Interlock
Bit 1 (Slave parameter writing status):
0 = Not writing / 1 = Writing
Bit 0 (Application data flash ROM write status):
0 = Not writing/erasing / 1 = Writing/erasing
* When the core program is in operation (Application update mode),
only Bit 0 is enabled. Data for System mode, Critical level
system error number, Latest system error number,
System status byte 1, System status byte 3 and System
status byte 4 is disabled.
5: System status byte 3
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Reserved for system use)
Bit 4 (Operation mode):
0 = Program mode / 1 = Position mode
Bit 3 (Reserved for system use)
Bit 2 (System ready status): 0 = Not ready / 1 = Ready
Bit 1 (System operation status):
0 = Not operating in AUTO mode
/ 1 = Operating in AUTO mode
Bit 0 (Drive-source cutoff status): 0 = Not cut off / 1 = Cut off
6: System status byte 4
Reserved for system use
SYST 0
Obtained data:
0: X axis coordinate offset
1: Y axis coordinate offset
2: Z axis coordinate offset
3: R axis coordinate offset
4 to F: Reserved for system use
Coordinate system definition data number (00 to FF)
Work/tool coordinate system definition data number (0 to)
Type 1 (0 to 1)
0 = Work coordinate system definition data
/ 1 = Tool coordinate system definition data
CD 0 00 : 0
Obtained data:
0: Command trigger
1 =Write / 4 =Clear
1: Axis pattern
2: Operation type
Bit 3 (Reserved for system use) Fixed to 0
Bit 2 (Reserved for system use) Fixed to 0
Bit 1 (Reserved for system use) Fixed to 0
Bit 0 (Servo ON/OFF): 0 = OFF / 1 = ON
SV 0
Bit
1st axis
8th axis
Reserved for system use
- 7 6 5 4 3 2 1 0
Obtained data
0 : Command trigger
1=Write/
1 : Reserved for system use
FRW 0
Variable number:
Global area (0200 to 0299,1200 to 1299)
Local area (0001 to 0099,1001 to 1099)
Program number:
Global area (000)
Local area (001 to 128)
INT000 : 0200
Variable number:
Global area (0300 to 0399,1300 to 1399)
Local area (0100 to 0199,1100 to 1199)
Program number:
Global area (000)
Local area (001 to 128)
RL000 : 0300