Mitsubishi Electric GOT 1000 Series, Connection Manual

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2. CONNECTION TO IAI ROBOT CONTROLLER
2.6 Device Range that Can Be Set
(13) Error Detaildevice(Detail 0 to Detail 7)
(14) Point Data Total Count device
(15)Simple Interference Check Zone Data device
Obtained data:
00: Error number
01: Detail information 1
Other than system-down level error: Program number
(Error source is indicated if the step number is not 0.)
System-down level error: System down type
02: Detail information 2
Other than system-down level error: Step number
(Error source)
System-down level error: System down error code
03: Detail information 3
Other than system-down level error: Axis number
System-down level error: System down information 1
04: Detail information 4
Other than system-down level error: Point number
(Negative value at interpolation point)
System-down level error: System down information 2
05: Detail information 5
06: Detail information 6
07: Detail information 7
08: Detail information 8
09: Message bytes
0A: Message 1 (4 bytes)
10: Message 2 (4 bytes)
49: Message 64 (4 bytes)
50 to FF: Reserved for system use
Reserved for system use
Type 1
0 = System error /1 = Axis-specific error
/ 2 = Program-specific error
/ 3 = Error in error list record
/ 4 or later = Reserved for system use
Type 2 (0 to FF)
System error: 0 = Critical level error / 1 = Latest error
Axis-specific error: Axis number
Program-specific error: Program number
Error in error list record: Record number (1 to )
ER0 00 : 000 : 00
Obtained data:
00: Command trigger
1 =Write / 2 =Read / 4 =Clear
01: Starting point number
02: Number of point data
03 to 0F: Point data 1
03: Point number
04: Axis pattern
05: Acceleration unit (0.01G)
06: Deceleration unit (0.01G)
07: Speed unit (mm/sec)
08 to 0F: Position data unit (0.001 mm)
08: 1st axis position data
0F: 8th axis position data
10 to 1C: Point data 2
92 to 9E: Point data 12
PD 00
Obtained data:
0: Effective axis pattern
1 to 4: Simple interference check zone definition coordinate
1 unit (0.001 mm (R axis: 0.001 deg))
1: X-axis definition coordinate
2: Y-axis definition coordinate
3: Z-axis definition coordinate
4: R-axis definition coordinate
5 to 8: Simple interference check zone definition coordinate
2 unit (0.001 mm (R axis: 0.001 deg))
9: Physical output port number or global flag number for
output upon entry
A: Entry error type specification
0 = No error handling / 1 = Message-level error
/ 2 = Operation-cancellation level error
B to F: Reserved for system use
Definition data number (1 to FF)
SD 01 : 0