Mitsubishi Electric Industrial Robot

CR800-D series controller

GOT Direct Connection
Extended Function Instruction Manual

BFP-A3546-B
 Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during

teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress

DANGER Provide a fence or enclosure during operation to prevent contact of the

operator and robot.
Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
 The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking of
operation rights of the devices, etc. must be designed by the customer.

CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.

CAUTION Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.

DANGER Do not connect the Handy GOT when using the GOT direct connection function
of this product. Failure to observe this may result in property damage or bodily
injury because the Handy GOT can automatically operate the robot regardless
of whether the operation rights are enabled or not.

DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R/CR800-Q controller. Failure to
observe this may result in property damage or bodily injury because the Handy
GOT can automatically operate the robot regardless of whether the operation
rights are enabled or not.

DANGER Do not remove the SSCNET III cable while power is supplied to the multiple
CPU system or the servo amplifier. Do not look directly at light emitted from
the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or
the servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector
pins, resulting in deterioration connector properties, and leading to malfunction.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer emer-
gency stop, and door switch) are working properly after the wiring setup is com-
pleted.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.

CAUTION To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take mea-
sures such as installing a firewall.
*CR800 controller

Notes of the basic component are shown.

CAUTION Please install the earth leakage breaker in the primary side power supply of the
controller because of leakage protection.

ACIN cable connection

Three phase Single phase Groove for main
Controller rear <1> <2> key (wide)
AC200V AC200V
Top

Primary side
ACIN connector
Note 1) (female)
Earth ACIN connector Main key (wide)
leakage ACIN cable
breaker (attachment) PE (protective earth) terminal Top
(NV) M4 screw

L1 L2 L3 L N
Grounding cable ACIN cable
Secondry side PE terminal
<3> (male)
PE terminal
PE terminal

Coupling

Note 1) Always use the terminal cover for the earth leakage breaker.

1) Prepare the following items.

Part name Specifications Remarks

Earth leakage breaker The following is recommended product. Prepared by customer.

Single phase: NV30FAU-2P-10A-AC100-240V-30mA

(Terminal cover: TCS-05FA2)

Three phase: NV30FAU-3P-10A-AC100-240V-30mA

(Terminal cover: TCS-05FA3)

Cable for primary power supply AWG14 (2mm2) or above Prepared by customer.
Tightening torque for terminal
fixing screw is 2 ～ 3Nm.

Grounding cable AWG14 (2mm2) or above Prepared by customer.

Tightening torque for terminal
fixing screw is 2 ～ 3Nm.

ACIN cable Terminal: M5, cable length: 3m Supplied with the product.
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the ACIN cable to the breaker.
Connect the power terminals of the ACIN cable to the secondary side terminals of the earth leakage breaker.
Also, ground the FG terminal of the cable.
5) Connect the ACIN cable to the ACIN connector on the rear of the controller.
<1> Face the main key on the ACIN cable plug upwards. (Refer to the "ACIN cable connection" illustration.)
<2> Align the main key of the ACIN cable plug with the grooves on the ACIN connector. Push the plug into the
connector as far as it will go.
The plug may be damaged if it is not correctly aligned with the connector.
<3> Tighten the coupling on the ACIN cable, turning it to the right until it locks.
6) Connect one end of the grounding cable to the PE (protective earth) terminal on the controller and ground the
other end (2-point grounding) in order to comply with the requirements of EN 61800-5-1 for the touch cur-
rent of 3.5 mA AC or more.
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
Revision history
Date of print Specifications No. Details of revisions

2017-05-17 BFP-A3546 • First edition created

2018-03-01 BFP-A3546-A • Safety Precautions was revised. (The CR800-Q controller was added.)

2018-12-25 BFP-A3546-B • Added further explanation of the ACIN cable.

*Introduction

Thank you for buying the industrial robot MELFA manufactured by Mitsubishi Electric.
This manual explains the expanded function and operation when connecting the robot controller and
the GOT directly in CR800-D series robot controller.
Monitoring of the robot information and the setup of the data are possible through the CPU buffer
memory.

Please carefully read and fully understand this document before making use of the extended func-
tions.

Target controller of this document

This document supports the robot controller below:
• CR800-D series controller

• No part of this manual may be reproduced by any means or in any form, without prior consent
from Mitsubishi.
• The contents of this manual are subject to change without notice.
• The specifications values are based on Mitsubishi standard testing methods.
• The information contained in this document has been written to be accurate as much as possi-
ble. Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
•This specifications is original.

• Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1 are
either registered trademarks or trademarks of Microsoft Corporation in the United States and/or
other countries.
• Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1 are either product
names of Microsoft Corporation in the United States.
• Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
• All other company names and production names in this document are the trademarks or regis-
tered trademarks of their respective owners.

Copyright(C) 2017-2018 MITSUBISHI ELECTRIC CORPORATION

 Contents
Page
1 Overview ......................................................................................................................................... 1-1
1.1 Function List .............................................................................................................................. 1-1
1.2 Features .................................................................................................................................... 1-2
1.3 CPU buffer Memory Configuration ............................................................................................ 1-3
1.3.1 Memory Configuration for Valid/Invalid Extended Function ................................................ 1-3
1.3.2 Memory Map of Extended Function Area ........................................................................... 1-4

2 Preparation for Using Extended Function ....................................................................................... 2-5

2.1 Operation flow ........................................................................................................................... 2-5
2.1.1 Set up Parameter for Selecting CPU buffer Memory Extended Function ........................... 2-5
2.1.2 Check Robot Language Setting .......................................................................................... 2-6

3 Monitor Robot Information .............................................................................................................. 3-7

3.1 Operation Flow .......................................................................................................................... 3-8
3.1.1 Select Monitoring Items ...................................................................................................... 3-9
3.1.2 Select Target Mecha ........................................................................................................... 3-9
3.1.3 Timing Chart ..................................................................................................................... 3-10
3.2 Monitoring Item ....................................................................................................................... 3-11
3.2.1 Monitor Operation Control Setting Values ........................................................................ 3-11
3.2.2 Monitor Activities ............................................................................................................... 3-13
3.2.3 Monitor Current and Aimed Positions ............................................................................... 3-14
3.2.4 Monitor Position and Joint Information ............................................................................. 3-16
(1) Select Position and Joint Data ....................................................................................... 3-16
(2) Position and Joint Data .................................................................................................. 3-18
3.2.5 Monitor Maintenance Information ..................................................................................... 3-21

4 Reads/Writes Robot's Variables ................................................................................................... 4-22

4.1 Function Description ............................................................................................................... 4-22
4.2 Operation Flow ........................................................................................................................ 4-22
4.3 How to Operate Variables ....................................................................................................... 4-23
4.3.1 Data List ............................................................................................................................ 4-23
(1) GOT output data ............................................................................................................. 4-23
(2) Robot output data ........................................................................................................... 4-24
(3) Completion status ........................................................................................................... 4-25
(4) Data description ............................................................................................................. 4-25
4.3.2 Timing Chart ..................................................................................................................... 4-27

5 Read Current Line of Robot Program ........................................................................................... 5-28

5.1 Function Description ............................................................................................................... 5-28
5.2 Operation flow ......................................................................................................................... 5-28
5.3 How to Operate Program ........................................................................................................ 5-29
5.3.1 Data List ............................................................................................................................ 5-29
5.3.2 Timing Chart ..................................................................................................................... 5-33

6 Set up Robot's Maintenance ......................................................................................................... 6-34

6.1 Function Description ............................................................................................................... 6-34
6.2 Operation flow ......................................................................................................................... 6-34
6.3 How to Operate Maintenance ................................................................................................. 6-35
6.3.1 Data List ............................................................................................................................ 6-35
6.3.2 Timing Chart ..................................................................................................................... 6-37

7 Read Robot Information ................................................................................................................ 7-38

7.1 Function Description ............................................................................................................... 7-38
7.2 Operation flow ......................................................................................................................... 7-38
7.3 How to Operate Robot Information ......................................................................................... 7-39

1
 Contents
Page
7.3.1 Data List ............................................................................................................................ 7-39
7.3.2 Timing Chart ..................................................................................................................... 7-42

8 Function Relevant Parameter ....................................................................................................... 8-43

8.1 Function Definition Parameter ................................................................................................ 8-43

9 Extended Function Relevant Error List ......................................................................................... 9-44

2
1Overview

1 Overview
This manual explains the expanded function and operation when connecting the robot controller and the
GOT directly in CR800-D series robot controller.
Monitoring of the robot information and the setup of the data are possible through the CPU buffer memory.
(The CPU buffer memory is extended.)
Note: These CPU buffer memory extended functions only support MELFA-BASIC V and VI or later. They do
not support MELFA-BASIC IV.
(For more information, refer to Page 6, "2.1.2 Check Robot Language Setting")

GOT direct connection

Ethernet
GOT

1.1 Function List

These CPU buffer memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in CPU buffer memory on the robot. Operation
function outputs a request from the GOT to the robot as needed and exchanges the data.
I/F btwn
No Item Description Update Cycle
Robots
1 Monitor- Monitor operation con- Monitors the setting values relating to Motoring output 3.5ms
ing func- trol setting values operation control command and opera-
tion tion control. (Robot side peri-
2 Monitor activities Monitors the robot's activities (current odically updates 3.5ms
speed, arrival factor to the aimed posi- the data in CPU
tion, etc.) buffer memory)
3 Monitor current and Monitors current and aimed positions of 3.5ms
aimed positions robot.
4 Monitor general position Monitors various position type data (ori- It may differ accord-
and joint information entation at collision, etc.) and joint type ing to each item.
data (current value, load factor, etc.) Refer to Page 16,
"3.2.4 Monitor Posi-
tion and Joint Infor-
mation".
5 Monitor maintenance Monitors the maintenance information Depending on the
information (battery and grease remaining times). parameter MFINTVL
6 Operation Read/write variables Reads/ writes variables used in the Request reply Responds within 1s
function robot's program. method (It may vary accord-
7 Read program's current Reads currently performing line of the ing to the load status
line robot program on a per line basis (up to (The robot side of robot control)
128 characters). answers by the
8 Set up maintenance Resets the servomotor information. output request of
9 Read error information Reads detailed error information (pro- the GOT, and
gram name, occurred line, etc.) delivers the data
10 Read product information Reads the robot's product information on the CPU buf-
(model name, version, and serial num- fer memory)
ber).

1-1Function List
 1Overview

1.2 Features
(1) Fulfilling functions to monitor and operate robot from GOT. Advances T/B and PC-less solution.
→ Various functions can be performed by reading/ writing the data in CPU buffer memory from GOT.

● Allows you to check activities, position information, and setting values of operation control command and
thereby analyze the operation in case of debugging or problem. (Monitoring current and aimed positions,
activities, and operation control setting values)
● Allows you to read and write the contents of program and variables and thereby change the robot's oper-
ation in case of debugging or problem.
● Allows you to check and set up maintenance status.
● Allows you to check error's detailed content. (Reading error information)
● Allows you to display and check various information in the robot (product, servo information, etc.)

Features 1-2
1Overview

1.3 CPU buffer Memory Configuration

Here, describes the CPU buffer memory configuration among the GOT.

1.3.1 Memory Configuration for Valid/Invalid Extended Function

To use the CPU buffer memory extended functions, enable the CPU buffer memory extended functions with
the parameter "IQMEM".
After enabling the CPU buffer memory extended functions, the CPU buffer memory is used by extending the
robot I/O area by 0.5 K word.
[Supplement]
In this manual, the CPU buffer memory address is written by offset. The top address outputted to the robot
from the GOT is "U3E0\HG0", and this data is the robot's input signal 10000. And the data of the robot's out-
put signal 10000 can be read by input top address"U3E1\HG0" of the GOT.

Extended Function Invalid Extended Function Valid

0 0

Robot input
Robot inputarea
area
(Sequencer output
(GOT output area)
area) User area User area
(Input number:
10000-18191)

511 511 Total 1K

512 word used

Extended 0.5K
function area
words
1023 extended

0 0

Robot
Robot outputarea
output area User area User area
(GOT input
(Sequencer area)
input area) (Output number:
10000-18191)

511 511 Total 1K

・ 512 words used
・
・
GOT CPU buffer memory address (per word) Extended 0.5K
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning. function area
* Above notation is an offset address from the beginning words
1023 extended
・
・
・
GOT CPU buffer
Sequencer memory
shared address
memory (per word)
address (per word)
** Above
Above notation
notationis is
anan
offset address
offset fromfrom
address the beginning.
the beginning

Note) Only the user area can be referred to by robot program, signal monitor, and dedicated I/O signal allo-
cation. They cannot refer to the extended function area.

1-3CPU buffer Memory Configuration

 1Overview

1.3.2 Memory Map of Extended Function Area

The table below lists the memory map of extended function area in the CPU buffer memory among the GOT.
* The GOT address is described in the offset address from start address.
* When not otherwise specified, the values are stored in binary format.
(1) Robot input (GOT output) area (2) Robot output (GOT input) area
CPU buffer CPU buffer
Memory Addr Description Memory Addr Description
GOT Addr GOT Addr
512 Common setting area of extended function 512 Common setting area of extended function
(Reserved: Future extended area) (Reserved: Future extended area)

Common area of operation function

Read/write variables

Reading area of program's current line

600 600

Reset area of servo monitor information

Reading area of information

700 Common area of operation function 700

Reading/ writing/ teaching area of variables

Common area of monitoring function

Reading area of program's current line Monitoring area of operation control setting
values

800 800
Monitoring area of activities
Reset area of servo monitor information
Reading area of error and product informa- Monitoring area of current and aimed posi-
tion tions
Common area of monitoring function
Monitoring area of general position and joint
information
(Reserved: Future extended area)

900 900 Monitoring area of general position and joint

information

Monitoring area of maintenance information

1000 1000
(Reserved)
1023 1023
1024 1024

CPU buffer Memory Configuration 1-4

2Preparation for Using Extended Function

2 Preparation for Using Extended Function

2.1 Operation flow

Start

● Sets up parameter IQMEM.

Set up robot's parameters … To enable the extended function, set bit 0 to one.
(Refer to Page 5, "2.1.1 Set up Parameter for Selecting CPU buffer
Memory Extended Function")
● Set robot language to "MELFA BASIC V" or "MELFA BASIC VI."
(Refer to Page 6, "2.1.2 Check Robot Language Setting")

Turn OFF the power supply and turn on

again … ● To validate the parameter, turn off the power once.

"3Monitor Robot Information"

Carry out the functions described in
"4Reads/Writes Robot's Variables"
chapters 3 to 7
"5Read Current Line of Robot Program"
"6Set up Robot's Maintenance"
"7Read Robot Information"

2.1.1 Set up Parameter for Selecting CPU buffer Memory Extended Function

The parameter "IQMEM" for selecting the CPU buffer memory extended function is 16bit data. Set the bit 0
to one to use the extended functions.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Select CPU buffer IQMEM 1 digit inte- Set validity (1)/ invalidity (0) for the function. 0000000000000000
memory extended ger Sets each bit by allocating a function to each bit.
function 0000000000000000 bit1-15: Not used
+- bit0: Use the CPU buffer
memory extended function

2-5Operation flow
 2Preparation for Using Extended Function

2.1.2 Check Robot Language Setting

The CPU buffer memory extended functions can be carried out only when the robot language is set to
MELFA-BASIC V or MELFA-BASIC VI.
Check the value of robot language setting parameter "RLNG".
To use the CPU buffer memory extended function, set the parameter "RLNG" to 2 or 3.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Robot language RLNG 1 digit inte- Select the robot language to be used: 3 (RT ToolBox3)
ger 3: MELFA-BASIC VI (RT ToolBox3)
2: MELFA-BASIC V
1: MELFA-BASIC IV

Operation flow 2-6

3Monitor Robot Information

3 Monitor Robot Information

The Table 3-1 lists the robot information monitored from GOT.

Table 3-1:Monitoring item list

Mecha No Section
No Item Description I/F betw Robots Update Cycle
Setting No
1 Monitor operation Monitors the setting values relating to Monitoring output 3.5ms ○ "3.2.1"
control setting operation control command and opera- (necessary)
values tion control (Robot side peri-
2 Monitor activities Monitors the robot's activities (current odically updates 3.5ms ○ "3.2.2"
speed, arrival factor to the aimed posi- the data in CPU
tion, etc.) buffer memory
3 Monitor current Monitors current and aimed positions of 3.5ms ○ "3.2.3"
and aimed posi- robot
tions
4 Monitor position Monitors various position type data (ori- Differ according ○ "3.2.4"
and joint informa- entation at collision, etc.) and joint type to items
tion data (current value, load factor, etc.)
5 Monitor mainte- Monitors the maintenance information Depending on ○ "3.2.5"
nance informa- (battery and grease remaining times) the parameter
tion MFINTVL

3-7
 3Monitor Robot Information

3.1 Operation Flow

Start

Prepare for Using Extended Function … Refer to Page 5, "2 Preparation for Using Extended Function".

Select monitoring items

Select items to be monitored from the GOT.

No Is the function selected by The robot outputs the signal "Function performing" of the moni-
toring function.
the robot side?
(Refer to Page 9, "3.1.1 Select Monitoring Items")
Yes

Select mecha

Select the mecha number from the GOT.

No Is the mecha selected by The robot outputs the "Mecha No" of monitoring target.
the robot side? (Refer to Page 9, "3.1.2 Select Target Mecha")

Yes

Whether to monitor posi- No

Monitoring starts
tion and joint information?
• Monitor operation control setting values
• Monitor activities
Yes • Monitor current and aimed positions
• Monitor maintenance information
Select position and joint data

Select the position and joint data from the GOT.

The robot outputs the "Position and joint data No" of monitoring
No Is the data selected by the target.
robot side? (Refer to Page 16, "(1) Select Position and Joint Data")

Yes

Monitoring starts
• Monitor position and joint information

Operation Flow 3-8

3Monitor Robot Information

3.1.1 Select Monitoring Items

Here, selects the monitoring functions output by the robot from the GOT.
Only the data specified by items (set to "1") selected with each bit can be monitored. For more information
on each monitoring data, refer to Page 11, "3.2 Monitoring Item" and after.

(1) GOT output data

a) Word data
GOT Addr
Description Remarks
(offset)
Function selection [Allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512 |||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)

(2) Robot output data

a) Word data
GOT Addr
Description Remarks
(offset)
Function performing [allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512 |||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)

3.1.2 Select Target Mecha

Here, selects the target mecha number of monitoring data output by the robot from the GOT.
The robot outputs the data with selected mecha number. The number (1 to 3) is selectable for mecha num-
bers. When the number other than 1 - 3 is specified, the data is initialized (zeros are put in the whole target
area)

(1) GOT output data

a) Word data
GOT Addr
Description Remarks
(offset)
841 Specify a mecha number [1 - 3]

(2) Robot output data

a) Word data
GOT Addr
Description Remarks
(offset)
731 Mecha number [1 - 3]

3-9Operation Flow
 3Monitor Robot Information

3.1.3 Timing Chart

Sequencer (1) (2) (3) (4) (5) (6) (7)

GOT Robot Robot

Select function, bit 4

(Monitor current and
aimed positions)

Select function, bit 6

(Monitor maintenance
information)

Specify mecha 1 2 0 1
No

Performing function, bit 4

(Monitor current and
aimed positions)

Performing function, bit 6

(Monitor maintenance
information)

Mecha No 1 2 0 1

Data for monitoring Mecha 1's Mecha 2's Mecha 1's

current and value value value
aimed positions

Data for monitoring

Mecha 1's Mecha 2's Mecha 1's
maintenance
value value value
information

The data is updated periodically while outputting

setting values (monitoring output)

Fig.3-1:Timing chart for selecting monitoring items and target mecha

(1) When the GOT sets the target bit of "Select function" to "ON", the robot sets the target bit of "Perform-
ing function" to "ON" to start the monitoring output of target item. Here, when "Specify mecha num-
ber" is other than 1 - 3, the robot waits to update the data.
(2) When the GOT sets "Specify mecha number" to one, the robot starts to update mecha 1's data.
(3) When the target bit of "Select function" is set to "ON" while the GOT sets "Specify mecha number",
the robot starts to update the data of target item while at the same time the robot sets the target bit
of "Performing function" to "ON".
(4) When the GOT changes "Specify mecha number", the robot outputs the data of specified mecha.
(5) When the GOT sets "Mecha number" to other than 1 - 3, the robot clears the output data.
(6) When the GOT re-sets "Mecha number", the robot outputs the data of target mecha.
(7) When the GOT sets the target bit of "Select function" to "OFF", the robot sets the target bit of "Per-
forming function" to "OFF" to initialize the output data.

CAUTION The synchronization of data in CPU buffer memory is guaranteed on a per 32bit (2
word) basis. But, the synchronization in the unit more than this bit cannot be guaran-
teed. Therefore, be aware that the position type and joint type data is guaranteed for
each axis, the data is not guaranteed as a whole.

Operation Flow 3-10

3Monitor Robot Information

3.2 Monitoring Item

3.2.1 Monitor Operation Control Setting Values

Here, periodically outputs the robot's operation control commands and the setting values for operation con-
trol to the CPU buffer memory.

(1) Monitoring data list

Supported
GOT Addr Update
Description State
(Offset) Cycle
Variable
ColChk setting value Collision detection setting [0: Invalid/ 1: Valid (error 3.5ms
777
occurred)/ 2: Valid (error not occurred)
778 ColLvl setting value Collision detection level, J1 axis [%: 1 - 500]
779 Collision detection level, J2 axis [%: 1 - 500]
780 Collision detection level, J3 axis [%: 1 - 500]
781 Collision detection level, J4 axis [%: 1 - 500]
782 Collision detection level, J5 axis [%: 1 - 500]
783 Collision detection level, J6 axis [%: 1 - 500]
784 (Reserved)
785 (Reserved)
CMP Pos/Tool/Jnt set- Compliance coordinate type
794
ting values [0: Invalid/ 1: Perpendicular/ 2: Tool/ 3: Joint]
Specify a compliance coordinate type [Specify target
axis with bit]
[Setting values to specify compliance axis of CMP
Pos/Tool/Jnt setting values]
The values below are set by setting up bit:
bit7 0
00000000
795 |||||||+---bit0:J1/X axis
||||||+----bit1:J2/Y axis
|||||+-----bit2:J3/Z axis
||||+------bit3:J4/A axis
|||+-------bit4:J5/B axis
||+--------bit5:J6/C axis
|+---------bit6:(Reserved)
+----------bit7:(Reserved)
796 CmpG setting value Compliance J1/X axis gain [10-2: 1 - 100]
797 Compliance J2/Y axis gain [10-2: 1 - 100]
798 Compliance J3/Z axis gain [10-2: 1 - 100]
799 Compliance J4/A axis gain [10-2: 1 - 100]
800 Compliance J5/B axis gain [10-2: 1 - 100]
801 Compliance J6/C axis gain [10-2: 1 - 100]
802 (Reserved)
803 (Reserved)
MvTune/Prec setting val- Operation characteristic [1: Standard/ 2: High-
804
ues speed/ 3: Track preferred/ 4: Vibration restricted]

3-11Monitoring Item
 3Monitor Robot Information

<Precautions>
● When the target mecha does not exist, outputs the data zero.
● The value below is output as ColChk:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable),
→ zero is output
- Otherwise (collision detection available):
When being in operation (including step feed, position jump operation),
→ the initial value is the value of element 2 of parameter COL, and then the output value is the
value changed by ColChk command.
When not being in operation (including suspension and jog operation),
→ it is set to the value of element 3 of parameter COL.
● The value below is output as ColLvl:
- When multiple mechas are in use or when the element 1 of parameter COL is zero (collision detection
unavailable) and
being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value during automatic operation is held when being in suspension, and it is the value
of parameter COLLVL when being stopped.
- Otherwise (collision detection available),
When being in operation,
→ the initial value is the value of parameter COLLVL, and then the output value is the value
changed by ColLvl command.
When not being in operation,
→ it is the value of parameter COLLVLJG.
● CMP Pos/Tool/Jnt setting values are set to zero when mechas 2, 3 are selected during using multiple
mechas.
(User mecha cannot use compliance)

Monitoring Item 3-12

3Monitor Robot Information

3.2.2 Monitor Activities

Here, periodically outputs the robot's activities (current speed, arrival factor to the aimed position, etc.) to
the CPU buffer memory.

(1) Monitoring data list

GOT Addr Supported Update
Description
(offset) State Variable Cycle
810 Current instruction speed [10-4mm/s] M_RSpd
811
812 Current distance remained [10-4mm] M_RDst
813
814 Distance between instructed and feedback positions [10-4mm] M_Fbd
815
816 Arrival factor [%] to the current aimed position M_Ratio
3.5ms
Current acceleration and deceleration state M_AclSts
817
[0: Stopped/ 1: Accelerated/ 2: Constant speed/ 3: Decelerated]
818 Collision detection [1: Collided/ 0: Otherwise] Note1) M_ColSts
Going over the limit during performing compliance M_CmpLmt
819
[1: Almost go over the limit/ 0: Does not go over the limit]
820 Deviance amount between instructed and actual positions during performing M_CmpDst
821 compliance [10-4mm]
Note1) Robot state variable (M_ColSts) is "1" for about 3.5ms between collision detection and servo OFF. But, the data
"1" is output to the CPU buffer memory for 1sec after the collision is detected.

<Precautions>
● When the target mecha does not exist, outputs the data zero.
● When the data is dependent on a slot and the slot does not exist which has the control of target mecha,
outputs the data zero. The data dependent on a slot is as follows:
• Current distance remained (M_RDst)
• Arrival factor to the current aimed position (M_Ratio)
• Current acceleration and deceleration state (M_ActSts)

3-13Monitoring Item
 3Monitor Robot Information

3.2.3 Monitor Current and Aimed Positions

Here, periodically outputs robot's current and aimed positions to the CPU buffer memory.

(1) Monitoring data list

GOT Addr Update
Description
(offset) Cycle
830 3.5ms
X coordinate value [10-4mm/10-4deg]
831
832
Y coordinate value [10-4mm/10-4deg]
833
834
Z coordinate value [10-4mm/10-4deg]
835
836
A coordinate value [10-4mm/10-4deg]
837
838
B coordinate value [10-4mm/10-4deg]
839
Current position (perpendicular)
840
C coordinate value [10-4mm/10-4deg]
841
842
L1 coordinate value [10-4mm/10-4deg]
843
844
L2 coordinate value [10-4mm/10-4deg]
845
846
Structure flag
847
848
Multi-turn data
849
850
X coordinate value [10-4mm/10-4deg]
851
852
Y coordinate value [10-4mm/10-4deg]
853
854
Z coordinate value [10-4mm/10-4deg]
855
856
A coordinate value [10-4mm/10-4deg]
857
858
B coordinate value [10-4mm/10-4deg]
859
Aimed position (perpendicular)
860
C coordinate value [10-4mm/10-4deg]
861
862
L1 coordinate value [10-4mm/10-4deg]
863
864
L2 coordinate value [10-4mm/10-4deg]
865
866
Structure flag
867
868
Multi-turn data
869

Monitoring Item 3-14

3Monitor Robot Information

GOT Addr Update

Description
(offset) Cycle
870
J1 coordinate value [10-4mm/10-4deg]
871
872
J2 coordinate value [10-4mm/10-4deg]
873
874
J3 coordinate value [10-4mm/10-4deg]
875
876
J4 coordinate value [10-4mm/10-4deg]
877
Current position (joint)
878
J5 coordinate value [10-4mm/10-4deg]
879
880
J6 coordinate value [10-4mm/10-4deg]
881
882
J7 coordinate value [10-4mm/10-4deg]
883
884
J8 coordinate value [10-4mm/10-4deg]
885
886
J1 coordinate value [10-4mm/10-4deg]
887
888
J2 coordinate value [10-4mm/10-4deg]
889
890
J3 coordinate value [10-4mm/10-4deg]
891
892
J4 coordinate value [10-4mm/10-4deg]
893
Aimed position (joint)
894
J5 coordinate value [10-4mm/10-4deg]
895
896
J6 coordinate value [10-4mm/10-4deg]
897
898
J7 coordinate value [10-4mm/10-4deg]
899
900
J8 coordinate value [10-4mm/10-4deg]
901

<Precautions>
• When the target mecha and axis do not exist, outputs the data zero.
• When the origin is not established, outputs zero for the both perpendicular and joint components of current
position.

(2) Data description

[Perpendicular data]
• The unit is 10-4mm or 10-4deg.
• Only lower one word is used for the structure flag. Upper one word is a reserved area.

[Joint data]
• The unit is 10-4mm or 10-4deg.

3-15Monitoring Item
 3Monitor Robot Information

3.2.4 Monitor Position and Joint Information

Here, periodically outputs the robot's various position type and joint type data to the CPU buffer memory.
The GOT selects the data output by the robot. The area exists for one pieces of position type data and three
pieces of joint type data and the data output for monitoring can be individually set by the GOT.

(1) Select Position and Joint Data

In the GOT, set up the number for position and joint data output by the robot.
The robot outputs the monitoring data corresponding to the selected data number.
The area exists for one pieces of position type data and three pieces of joint type data and the data can be
individually set.
When the GOT specifies the data with the number which is out of range, the robot sets all monitoring data to
zero.

(1) Data list

a) GOT output
GOT Addr
Description
(offset)
Position data selection [1 - 4]
1: (Reserved)
850 2: (Reserved)
3: (Reserved)
4: Direction at the time of collision
Joint data selection-1 [1 - 13]
1: (Reserved)
2: (Reserved)
3: Difference between estimated and actual torques when detecting a collision
4: (Reserved)
5: Current instruction
6: Maximum current instruction 1
851
7: Maximum current instruction 2
8: Current feedback
9: Allowable current instruction, minus side
10: Allowable current instruction, plus side
11: Effective current
12: Axis load level
13: Maximum axis load level
Joint data selection-2 [1 - 13]
852
For setting values, refer to 851 above.
Joint data selection-3 [1 - 13]
853
For setting values, refer to 851 above.

b) Robot output
GOT Addr
Description
(offset)
906 Position data number [1 - 4]
907 Joint data number-1 [1 - 13]
908 Joint data number-2 [1 - 13]
909 Joint data number-3 [1 - 13]

Monitoring Item 3-16

3Monitor Robot Information

(2) Timing chart

(1) (2) (3) (4)
Sequencer
GOT RobotRobot
Joint data
number-1 5 12 0 5

Joint data
5 12 0 5
number-1

Joint data 1: Current 12: Axis load 5: Current

number-1 instruction level instruction

The data is updated periodically while

outputting setting values (monitoring output)

Fig.3-2:Joint data output, Timing chart

(1) When the GOT selects "Joint data selection-1," the robot outputs the target data to "Joint data-1"
area.
(2) When the GOT changes "Joint data selection-1," the robot outputs the changed target data to "Joint
data-1" area.
(3) When the GOT selects the data out of valid range for "Joint data selection-1," the robot clears "Joint
data-1" (set all components to zero) and outputs zero for "Joint number-1."
(4) When the GOT reselects "Joint data selection-1", the robot outputs the target data to "Joint data-1"
area.

* The same applies to Joint data-2, 3 and position data.

3-17Monitoring Item
 3Monitor Robot Information

(2) Position and Joint Data

(1) Data list

b) Robot output
GOT Addr
Description
(offset)
910
X coordinate value
911
912
Y coordinate value
913
914
Z coordinate value
915
916
A coordinate value
917
918 Position data [1 - 4]
1: (Reserved) B coordinate value
919
2: (Reserved)
920
3: (Reserved) C coordinate value
921 4: Direction at the time of collision
922
L1 coordinate value
923
924
L2 coordinate value
925
926
Structure flag
927
928
Multi-turn data
929
930
J1 coordinate value
931
Joint data-1 [1 - 13]
932
1: (Reserved) J2 coordinate value
933
2: (Reserved)
934 3: Difference between estimated and actual torques when
J3 coordinate value
935 detecting a collision
936 4: (Reserved)
5: Current instruction J4 coordinate value
937
6: Maximum current instruction 1
938
7: Maximum current instruction 2 J5 coordinate value
939 8: Current feedback
940 9: Allowable current instruction, minus side
J6 coordinate value
941 10: Allowable current instruction, plus side
11: Effective current
942
12: Axis load level J7 coordinate value
943
13: Maximum axis load level
944
J8 coordinate value
945
946
J1 coordinate value
947
948
J2 coordinate value
949
950
J3 coordinate value
951
952
J4 coordinate value
953 Joint data-2 [1 - 13]
954 * The data is similar to Joint data-1.
J5 coordinate value
955
956
J6 coordinate value
957
958
J7 coordinate value
959
960
J8 coordinate value
961

Monitoring Item 3-18

3Monitor Robot Information

GOT Addr
Description
(offset)
962
J1 coordinate value
963
964
J2 coordinate value
965
966
J3 coordinate value
967
968
J4 coordinate value
969 Joint data-3 [1 - 13]
970 * The data is similar to Joint data-1
J5 coordinate value
971
972
J6 coordinate value
973
974
J7 coordinate value
975
976
J8 coordinate value
977

<Precautions>
• When the target mecha and axis do not exist, outputs the data zero.

3-19Monitoring Item
 3Monitor Robot Information

(2) Data description

The table below lists the content of each data item.
Supported
Item Description Setting Value (unit) State Update cycle
Variable
Divides the direction at P_ColDir 3.5ms
the time of collision to (User mechanism is
Position data

components X, Y, Z. enabled: 7.1ms)

4: Direction at the time Robot's direction when the collision is
Specify the value with
of collision Note1) detected
the proportion when the
maximum moving axis
value is set to ±100.
3: Difference between J_Colmxl 3.5ms
estimated and Maximum difference value between (User mechanism is
enabled: 7.1ms)
actual torques when estimated and actual torques when [10-3%]
detecting a collision detecting a collision is valid
Note1)

5: Current instruction Outputs the current instruction value. [10-3Arms] 28ms

Outputs the maximum current instruc- 0.9sec
6: Maximum current
instruction 1
tion value after power-up. Reset when [10-3Arms]
the robot power supply is shut off.
7: Maximum current Outputs the maximum current instruc- 0.9sec
instruction 2 tion value for past 2sec. [10-3Arms]

Outputs the current value generated in 3.5ms

8: Current feedback
the servo motor. [10-3Arms] (User mechanism is
enabled: 7.1ms)
Outputs the maximum allowable value 3.5ms
9: Allowable current (minus side) of the current generated in (User mechanism is
enabled: 7.1ms)
Joint data

instruction, minus the servo motor. * The value may vary [10-3Arms]
side according to jog and automatic opera-
tions.
Outputs the maximum allowable value 3.5ms
(plus side) of the current generated in (User mechanism is
10: Allowable current enabled: 7.1ms)
instruction, plus side
the servo motor. * The value may vary [10-3Arms]
according to jog and automatic opera-
tions.
Outputs the effective value of current 28ms
11: Effective current
feedback. [10-3Arms]

Outputs the motor's load level. The 0.9sec

bigger this value, the heavier the
load on the motor.
12: Axis load level [10-3%]
Roughly it should be 80% or less.
* It takes a few minutes until the value
will stable.
Outputs the maximum value of axis 0.9sec
13: Maximum axis load
level
load level after power-up. Reset when [10-3%]
the power supply is shut off.
Note1) Because the collision detection function is unavailable during using multiple mechas, outputs zero.

Monitoring Item 3-20

3Monitor Robot Information

3.2.5 Monitor Maintenance Information

Here, periodically outputs the robot’s scheduled maintenance data (grease and belt remaining times) to the
CPU buffer memory.

(1) Monitoring data list

GOT Addr
Description Update Cycle
(offset)
980
(Reserved)
981
982
Grease remaining time - J1 axis [Hr]
983
984
Grease remaining time - J2 axis [Hr]
985
986
Grease remaining time - J3 axis [Hr]
987
988
Grease remaining time - J4 axis [Hr]
989
990
Grease remaining time - J5 axis [Hr]
991
992
Grease remaining time - J6 axis [Hr]
993
994
Grease remaining time - J7 axis [Hr]
995 Updated at sched-
996 uled interval set up
Grease remaining time - J8 axis [Hr] in the second ele-
997
ment of parameter
998 "MFINTVL"
Belt remaining time - J1 axis [Hr]
999
1000
Belt remaining time - J2 axis [Hr]
1001
1002
Belt remaining time - J3 axis [Hr]
1003
1004
Belt remaining time - J4 axis [Hr]
1005
1006
Belt remaining time - J5 axis [Hr]
1007
1008
Belt remaining time - J6 axis [Hr]
1009
1010
Belt remaining time - J7 axis [Hr]
1011
1012
Belt remaining time - J8 axis [Hr]
1013

<Precautions>
● When the target mecha does not exist, outputs all the data with zero.
● When the target mecha exists but the maintenance schedule is not supported, outputs all the data with "-
1".
● When the target axis is not updated by the maintenance schedule, outputs the data "-1".

(2) Data description

[Grease remaining time]: Outputs the remaining time until the grease-up of each axis.
[Belt remaining time]: Outputs the remaining time until the belt exchange of each axis.

3-21Monitoring Item
 4Reads/Writes Robot's Variables

4 Reads/Writes Robot's Variables

4.1 Function Description
(1) Function list
The table below lists the variable operations performed from the GOT:

Table 4-1:Variable operation function list

Robot's
No Item Description
response time
1 Read numeric variable Reads variable content by specifying slot number and variable name.
Rewrites variable content by specifying slot number, variable name, and vari-
2 Write numeric variable
able content. Answered within
3 Read position variable Reads variable content by specifying slot number and variable name. 1sec (it may vary
Rewrites variable content by specifying slot number, variable name, and vari- according to the
4 Write position variable robot control's
able content.
5 Read joint variable Reads variable content by specifying slot number and variable name. load state)
Rewrites variable content by specifying slot number, variable name, and vari-
6 Write joint variable
able content.

(2) Functional requirements

Always available when a program is selected for robot's target slot and the target variable exists.
When the target is external variable, the variable operation is possible by specifying zero for a slot number,
even when a program is not selected.

CAUTION Be careful fully to change variable value.

The robot's location and behavior may be changed by changing the variable value,
thereby interfering with surrounding devices. Because it is especially dangerous
when the robot is in operation, sufficiently check the value to be changed.

4.2 Operation Flow

Start

Prepare for Using Extended Function … Refer to Page 5, "2 Preparation for Using Extended Function".

Carry out variable operation (read/ write) … Refer to Page 23, "4.3 How to Operate Variables".

Function Description 4-22

4Reads/Writes Robot's Variables

4.3 How to Operate Variables

Here, in the GOT, operates the robot's variables (read/ write variables) by specifying function number, slot
number, variable name, and variable data.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).

4.3.1 Data List

(1) GOT output data
1) Word data
Setting values when specifying ASCII character for variable and program names
Setting Value for Specifying ASCII Character
GOT Numeric Var Numeric Var
Addr Numeric Var
Item Position Var Joint Var (Long-precision (Single-precision real
(Integer)
(offset) integer number) number)

Read Write Read Write Read Write Read Write Read Write
701 (Reserved) (Reserved)
702 Function No 101 102 104 105 107 108 111 112 121 122
703 Slot No Slot number [0, 1 to the value of parameter TASKMAX]
704
705
Program
706
name (Not used)
707
(Not used)
708
709
710
711
712
713 Variable
Variable name [ASCII data, up to 16 characters]
714 name
715
716
717
718 Integer Long-
X coor- J1 coor- precision Single-
precision
dinate dinate integer real num-
719 value value number
value ber value
720 Y coor- J2 coor-
dinate dinate
721 value value
722 Z coor- J3 coor-
dinate dinate
723 value value
724 A coor- J4 coor-
dinate dinate
725 value value
726 B coor- J5 coor-
Variable (Not (Not dinate (Not dinate (Not (Not
727 (Not value value
data used) used) used) used) used)
used)
728 C coor- J6 coor- (Not (Not
dinate dinate used) used)
729 value value
730 L1 coor- J7 coor-
dinate dinate
731 value value
732 L2 coor- J8 coor-
dinate dinate
733 value value
734 Struc-
735 ture flag
(Not
736 Multi- used)
turn
737 data

4-23How to Operate Variables

 4Reads/Writes Robot's Variables

2) Bit signal
GOT Address
Description
Addr (offset) Bit position
700 0 Request for variable operation

(2) Robot output data

1) Word data
Setting values when specifying ASCII character for variable and program names
Setting Value for Specifying ASCII Character

GOT Addr Numeric Var Numeric Var Numeric Var

Item Position Var Joint Var (Long-precision (Single-precision real
(offset) (Integer) integer number) number)

Read Write Read Write Read Write Read Write Read Write
Completion
551 Completion status [1: OK/ other than 1: NG]
status
552 Function No 101 102 104 105 107 108 111 112 121 122
553 Slot No Slot number [0, 1 to the value of parameter TASKMAX]
554
555
556 Program
Program name, ASCII data, up to 12 characters]
557 name
558
559
560
561
562
563 Variable
Variable name [ASCII data, up to 16 characters]
564 name
565
566
567
568 Integer J1 coordinate Long-precision inte- Single-precision
X coordinate value
569 value ger number value real number value
570 J2 coordinate
Y coordinate value
571 value
572 J3 coordinate
Z coordinate value
573 value
574 J4 coordinate
A coordinate value
575 value
576 J5 coordinate
B coordinate value
577 Variable value
data (Not (Not
578 J6 coordinate (Not (Not (Not (Not
used) used) C coordinate value
579 value used) used) used) used)
580 L1 coordinate J7 coordinate
581 value value
582 L2 coordinate J8 coordinate
583 value value
584
Structure flag
585 (Not (Not
586 used) used)
Multi-turn data
587

How to Operate Variables 4-24

4Reads/Writes Robot's Variables

2) Bit signal
GOT Address
Description
Addr (offset) Bit position
550 0 Variable operation completed

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
Specified data (function number, slot number, variable number, element number, or external variable specification)
2
out of range
3 Program not selected for the target slot
4 Target variable does not exist
5 (Reserved)
6 Not the formal variable data (at the time of writing variable)
7 Target variable not writable (at the time of writing variable)
Target variable value out of range at the time of reading variable: Not in the range between -32768 and 32767 (at the
8
time of reading numeric variable)
10 NG because of a factor other than 2 to 8

(4) Data description

[Function No]
Select the target function.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).

[Slot number]
Select the target slot.
In general, specify a value between 1 and the value of parameter TASKMAX (factory default: 8). In case
of external variable, "0" can be specified.

[Program name]
Program name is displayed in ASCII character.

● Specifying ASCII character

• Specify ASCII program name in 6 words area (12 characters).
• To specify ASCII characters, specify all 12 characters or string data including terminating code.
However, leading and ending blank characters (space) are ignored.
• When target is an external variable and zero is specified for slot number, the program name becomes
NULL.

[Variable name]
To specify a variable name, specify ASCII characters.

● Specifying ASCII character

• Specify the variable name (including leading character) in the 8 words area (16 characters, robot speci-
fication).
• To specify ASCII characters, specify all 16 characters or string data including terminating code.
However, leading and ending whitespace characters (space) are ignored.
• The character underscore (_) used in array and external variable is also available, and array or external
variable can be specified.

4-25How to Operate Variables

 4Reads/Writes Robot's Variables

<ASCII data setting example>

• Set up the data in order from low to high byte of start address.
• Specify zero as a terminating code.
(Be compliant with the character input specification of the GOT)

"1A023" CPU buffermemory

Shared memoryaddr
addr
b15･････････b8 b7･･････････b0
U3E0\HG10
U3E0¥G10010 “A”(41H) “1”(31H)
Set up the data in order from Low to High U3E0\HG11
U3E0¥G10011 “2”(32H) “0”(30H)
byte of start address
U3E0¥G10012
U3E0\HG12 (0H) “3”(33H)

Specify zero as a terminating code

<Available character>
Available characters are compliant with robot specification. (Refer to the table below.)

Program Variable
Category Available Characters
Name Name
Alphabetic ABC DEFGHIJKLMNOPQRSTUVWXYZ ○ ○
character abcdefghijklmnopqrstuvwxyz × ○
Figure 0123456789 ○  Note1)
"'&()*+-.,/:;=<>?[\]^{}~|!#$% × × Note2)
Symbol
'_' (underscore) ×  Note3)
White space Whitespace character × ×
Note1) Only the alphabetic characters are available at the beginning of variable name. A figure is available for
second and after characters.
Note2) Parentheses "()" for specifying an array are available.
Note3) Available for second and after characters. The variable whose second character is underscore '_' is an
external variable.

[Variable data: numeric variable (Integer)]

• One word is prepared for a numeric variable and only an integer can be specified.
• Therefore, its range is between -32768 and 32767, and digits after decimal point are discarded.

[Variable data: numeric variable (Long-precision integer number)]

• Two words are prepared for a numeric variable and only an integer can be specified.
• Therefore, its range is between -2147483648 and 2147483647, and digits after decimal point are dis-
carded.

[Variable data: position, joint, and numeric (Single-precision real number) variables]
• The unit is 10-4mm or 10-4deg.
However, the number of significant figures for position and joint variable data output from the robot is
dependent on the parameter PRGDPNTM (digits after decimal point: factory default is 2 or 3 digits (it may
vary according to the robot model)), and the portion less than the significant figures is rounded off.
For example, when PRGDPNTM is two, to round off 1.2345 gives 12300 and to round off 6.7890 gives
67900.
• Only lower one word is used for the structure flag of position variable, and upper one word is a reserved
area.
• When a variable in undefined state (a variable exists but its data is empty) is read, zero is set to the unde-
fined portion of data.
• Because each component value is handled as a single-precision floating type real number in the robot, the
number of significant figures is about 7 digits.
(The value which can be expressed with 24bit when expressed in binary number is about 7 digits when
expressed in decimal number).

How to Operate Variables 4-26

4Reads/Writes Robot's Variables

• When the data is successfully written into a variable, the variable data in the robot after the writing is read
again and sent.
Therefore, even when writing into a position or joint variable is successfully ended, the data specified by
the GOT may be different from the data to be sent by the robot. The robot's posture data or the number of
significant figures of data's digits after decimal point may differ.
4.3.2 Timing Chart

(1) (2) (3) (4)

GOT Robot
Sequencer Robot
Function No
Slot No
Variable Name

(Variable data)

Request for variable

operation

Variable operation
completed

Completion status

Function No
Slot No
Program name
Variable Name

Variable data

Fig.4-1:Variable operation timing chart

(1) The GOT sets up "Function number", "Slot number", "Variable name", and "Variable data" (only for
writing variable) and turns ON "Request for variable operation".
(2) When the robot receives "Request for variable operation ON", the robot operates the variable based
on received data. When "Function number", "Slot number", "Variable name", "Variable data", and
"Completion status" are specified after the operation, the robot turns ON "Variable operation com-
pleted".
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Variable operation completed".
(3) When "Variable operation completed ON" is received, the GOT turns OFF "Request for variable oper-
ation".
(4) When received "Request for variable operation OFF", the robot turns OFF "Variable operation com-
pleted" and clears the data.

4-27How to Operate Variables

 5Read Current Line of Robot Program

5 Read Current Line of Robot Program

5.1 Function Description
(1) Function list
The Table 5-1 lists the program operations performed from the GOT.

Table 5-1:Program operation function list

Robot's Response
No Item Description
Time
Responds within 1s
 Reads currently performing robot program (one line, 128 charac-
Read program's cur- (it may vary accord-
1 ters) by specifying a slot number.
rent line ing to the robot con-
 Practicable when a program is selected for robot's slot. trol's load state)

(2) Program data

The program data is as follows:
• The data is one line of program (up to 128 characters) in ASCII.
• When the data is less than 128 characters, terminating code 0 (NULL) is added at the end of string.
• Shift JIS codes are used for kanji character (similar to GOT specification).

CAUTION When a program line can be longer than 128 characters, the data after 128th char-
acter cannot be read.
Consequently, when the program whose line is longer than 128 characters is read
and the data is written as-is into the robot, be careful that the data which exceeds
128 characters will be deleted.

5.2 Operation flow

Start

Prepare for Using Extended Function … Refer to Page 5, "2 Preparation for Using Extended Function".

Carry out program operation (read) … Refer to Page 29, "5.3 How to Operate Program".

Function Description 5-28

5Read Current Line of Robot Program

5.3 How to Operate Program

Here, in the GOT, operates the robot program by specifying function number, slot number, program name,
and program data.
Setting function number to '103' allows you to select a work type (read current line) and specify a program
name (designation of ASCII character).

5.3.1 Data List

(1) GOT output data
1) Word data
Setting Value for Specifying ASCII
Character
GOT Addr
Item
(offset) Program
Read current line
740 (Reserved) (Reserved)
741 Function No 103
Slot number
742 Slot No
[1 to the value of parameter TASKMAX]
743
744
745
Program name (Not used)
746
747
748
749 Line No (Not used)
750 (Reserved) (Reserved)
751
752
·
·
·

Program data (Not used)

813
814

2) Bit signal
GOT Address
Bit Description
Addr (offset)
position
700 1 Request for program operation

5-29How to Operate Program

 5Read Current Line of Robot Program

(2) Robot output data

1) Word data
Setting Value for Specifying ASCII
Character
GOT Addr
Item
(offset) Program
Read current line
590 Completion status Completion status [1: OK/ other than 1: NG]
591 Function No 103
Slot number
592 Slot No
[1 to the value of parameter TASKMAX]
593
594
595
Program name Program name, ASCII data, up to 12 characters
596
597
598
599 Line No Line No [1 - 32767]
Number of pro-
600 Number of program characters
gram characters
601
602
·
·
·

Program to be read
Program data [ASCII data, up to 128 characters]
* Shift JIS code for kanji

663
664

2) Bit signal
GOT Address
Bit Description
Addr (offset)
position
550 1 Program operation completed

How to Operate Program 5-30

5Read Current Line of Robot Program

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
2 Specified data (function number, slot number, program number) out of range
3 Program not selected for the target slot
4 (Reserved)
5 (Reserved)
6 (Reserved)
7 (Reserved)
10 NG because of a factor other than 2 to 7

(4) Data description

[Function No]
Selects the target function.
Function number setting allows you to select a work type (read current line) and specify a program name
(designation of ASCII character).

[Slot number]
Select the target slot. Specify a value (factory default: 8) in the range between 1 and the value of param-
eter TASKMAX.

[Program name]
ASCII characters of the output program name.

• Specifying ASCII character

• Specify ASCII program name in 6 words area (12 characters).
• To specify ASCII characters, specify all 12 characters or string data including terminating code. How-
ever, leading and ending whitespace characters (space) are ignored.

For information about ASCII data, available characters, refer to Page 25, "(4) Data description".

[Line No]
The line number of the read line is output.
When a program is selected but program is in abeyance (program is not running), the line number of first
line is output.

5-31How to Operate Program

 5Read Current Line of Robot Program

[Number of program characters]

Outputs the number of characters of target line in the target program.
Count and specify the number of characters from the leading to final character (exclusive of line feed/ ter-
minating characters) including comment line (exclusive of line number).
When the target line is longer than 128 characters, up to 128 characters are read as a program data, but
the number of counted characters is set as-is as the number of program characters.
When writing into a program, the number of characters of written line is set.

Example 1: A line is less than 128 characters:

Stored in program data area (25 characters + terminating code (0))

MOV P1 ' Move to the aimed position <CR>

Number of program characters 25

Specify the number of characters from the leading to the final character (exclusive of
terminting character)

Example 2: A line is more than 128 characters:

Stored in program data area (128 characters)

PHOSEI=PBASE*INV(PTOOL)*PDATA ' Calculate······································· correction calculation <CR>

Number of program characters 132

Specify the number of characters from the leading to the final character (exclusive of
terminting character)

[Program data]
• The data is in ASCII format and up to 128 characters of program content are stored.
• Shift JIS codes are used for kanji.
• Line number is excluded from the program data.

How to Operate Program 5-32

5Read Current Line of Robot Program

5.3.2 Timing Chart

(1) (2) (3) (4)

GOT RobotRobot
Sequencer
Function No
Slot No
(Program name)
(Line No)

(Program data)

Request for program

operation

Program operation
completed

Completion status

Function No
Slot No
Program name
Line No

Program data

Fig.5-1:Program operation timing chart

(1) The GOT sets up necessary data of "Function number", "Slot number", "Program name", "Line num-
ber", and "Program data" and turns ON "Request for program operation".
(2) When the robot receives "Request for program operation ON", the robot operates the program based
on received data. When "Function number", "Slot number", "Program name", "Program data", and
"Completion status" are specified after the operation, the robot turns ON "Program operation com-
pleted".
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Program operation completed".
(3) When "Program operation completed ON" is received, the GOT turns OFF "Request for program
operation".
(4) When received "Request for program operation OFF", the robot turns OFF "Program operation com-
pleted" and clears the data.

5-33How to Operate Program

 6Set up Robot's Maintenance

6 Set up Robot's Maintenance

6.1 Function Description
(1) Function list
The Table 6-1 lists the maintenance setting performed from the GOT.

Table 6-1:Maintenance setting function list

Robot's
No Item Description
Response Time
Responds within 1s
(it may vary
Reset maximum ser- Resets the servo monitor's maximum values (current value, load factor, etc.)
1 according to the
vomotor value stored by robot to zero.
robot control's load
state)

(2) Functional requirements

Always practicable.

6.2 Operation flow

Start

Prepare for Using Extended Function … Refer to Page 5, "2 Preparation for Using Extended Function".

Carry out maintenance setting operation … Refer to Page 35, "6.3 How to Operate Maintenance".

Function Description 6-34

6Set up Robot's Maintenance

6.3 How to Operate Maintenance

Here, in the GOT, operates the maintenance setting by specifying function number and setting data corre-
sponding to the function.
Function number setting allows you to select function items.

6.3.1 Data List

(1) GOT output data
1) Word data
Setting Value
GOT Addr
Item Reset Servo Monitor's Maximum/Minimum
(offset)
Values

820 (Reserved) (Reserved)

821 Function No 6
822 Mecha No Mecha No[1-3]
823
824
825
Mecha No (Not used)
826
827
828

2) Bit signal
GOT Address
Addr Description
Addr (offset)
(offset)
700 2 Request for maintenance setting

(2) Robot output data

1) Word data
Setting Value
GOT Addr
Item
(offset) Reset Servo Monitor's Maximum/Minimum Values

Completion sta-
670 Completion status [1: OK/ other than 1: NG]
tus
671 Function No 6
672 Mecha No Mecha No[1-3]
673
674
675
Mecha No (Not used)
676
677
678

2) Bit signal
GOT Address
Addr Description
Addr (offset)
(offset)
550 2 Maintenance setting completed

6-35How to Operate Maintenance

 6Set up Robot's Maintenance

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
Specified "Function number" and "Mecha number" are out of range (including the case that the target mecha
2
does not exist).
3 (Not used)
4 No target function (the function specified by target mecha does not exist)
10 NG because of a factor other than 2 to 4

(4) Data description

[Function No]
Selects the target function.

[Mecha No]
Select the target mecha. Specify a mecha in the range of mechas 1 - 3.

How to Operate Maintenance 6-36

6Set up Robot's Maintenance

6.3.2 Timing Chart

(1) (2) (3) (4)

SequeRobot
GOT Robot

Function No

(Setting data)

Request for
maintenance setting

Maintenance setting
completed

Completion
status

Function No

(Setting data)

Fig.6-1:Maintenance function timing chart

(1) The GOT sets up necessary data of "Function number" and "Setting data" and turns ON "Request for
maintenance setting."
(2) When the robot received "Request for maintenance setting ON," the robot operates the maintenance
setting based on received data. When "Function number", "Setting data", and "Completion status"
are specified after the operation, the robot turns ON "Maintenance setting completed."
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Maintenance setting completed."
(3) When "Maintenance setting completed ON" is received, the GOT turns OFF "Request for mainte-
nance setting.”
(4) When "Request for maintenance setting OFF" is received, the robot turns OFF "Maintenance setting
completed" and clears the data.

6-37How to Operate Maintenance

 7Read Robot Information

7 Read Robot Information

7.1 Function Description
(1) Function list
The Table 7-1 lists the robot information reading performed from the GOT.

Table 7-1:Robot information reading function list

Robot's
No Item Description
Response Time
Reads the detailed error information generated in the robot. Responds within 1s
When multiple errors occur, three information can be read at the same (it may vary
1 Read error information
time, and the information to be read can be changed by specifying the according to the
start number. robot control's load
2 Read product information Read the robot's product information. state)

(2) Functional requirements

Always practicable.

7.2 Operation flow

Start

Prepare for using extended function … Refer to Page 5, "2 Preparation for Using Extended Function".

Read robot information … Refer to Page 39, "7.3 How to Operate Robot Information".

Function Description 7-38

7Read Robot Information

7.3 How to Operate Robot Information

Here, reads the robot information from the GOT by specifying function number and setting data.
Function number allows you to select the robot information to be read.

7.3.1 Data List

(1) GOT output data
1) Word data
Setting Value
GOT Addr
Item Read Error Read Product
(offset)
Information Information

830 (Reserved) (Reserved)

831 Function No 3 4
832 Setting No Start number [1 -] (Not used)

2) Bit signal
GOT Address
Addr Description
Addr (offset)
(offset)
700 3 Request for reading information

7-39How to Operate Robot Information

 7Read Robot Information

(2) Robot output data

1) Word data
Setting Value
GOT Addr
Item Read Error Read Product
(offset)
Information Information
680 Completion status Completion status [1: OK/ other than 1: NG]
681 Function No 3 4
682 Start number [1 -] (Not used)
Number of errors
683
occurred
684 Information 1 (error No)
685
686 Information 1
(error occurred program Robot type name
687
name) [ASCII data, up to 20
688 [ASCII data, up to 12 characters]
689 characters]
690
Information 1
691
(occurred line No)
692 Information 1
693 (detailed error No)
Controller version
Information 1
694 [ASCII data, up to 6
(occurred slot No)
characters]
695
696 (Reserved)
697
698 Information 2 (error No)
Controller serial No
699
[ASCII data, up to 16
700 Information 2
(error occurred program characters]
701
name)
702
[ASCII data, up to 12
703 characters]
704 Read data
Information 2
705
(occurred line No)
706 Information 2
(detailed error No) Robot serial No
707
[ASCII data, up to 16
Information 2 characters]
708
(occurred slot No)
709
710 (Reserved)
711
712 Information 3 (error No)
713
714 Information 3
715 (error occurred program
name)
716 [ASCII data, up to 12
717 characters]
718
Information 3 (Not used)
719
(occurred line No)
720 Information 3
721 (detailed error No)
Information 3
722
(occurred slot No)
723
724 (Reserved)
725

How to Operate Robot Information 7-40

7Read Robot Information

2) Bit signal
GOT Address
Addr Description
Addr (offset)
(offset)
550 3 Reading information completed

(3) Completion status

The values below are established as completion status:
Setting
Description
Value
1 Successfully completed
2 Specified "Function number" out of range
3 Specified "Setting data" out of range
10 NG because of a factor other than 2 and 3

(4) Data description

[Function No]
Selects the target function.

[Start No of read data]

Specify the information's start number to be read.
The robot reads and stores three pieces of information from the specified number in the CPU buffer
memory.
Specify 1: Reads first to third pieces of registered information.
Specify 2: Reads second to fourth pieces of registered information.
Specify 3: Reads third to fifth pieces of registered information.
Of information 1 - 3, the information with small number is a new error.

When the target information with the specified number does not exist, the robot sets all read data to zero.

7-41How to Operate Robot Information

 7Read Robot Information

7.3.2 Timing Chart

(1) (2) (3) (4)

GOT RobotRobot
Sequencer
Function No
(Start No)

Request for reading

information

Reading information
completed

Completion
status

Function No
(Start No)

Read data

Fig.7-1:Information reading timing chart

(1) The GOT sets up necessary data of "Function number" and "Start number" and turns ON "Request
for reading information."
(2) When "Request for reading information ON" is received, the robot specifies requested "Read data"
and "Completion status" and turns ON "Reading information completed."
When the operation cannot be carried out, the robot specifies a number indicating NG and turns ON
"Reading information completed."
(3) When "Reading information completed" is received, the GOT turns OFF "Request for reading infor-
mation."
(4) When "Request for reading information OFF" is received, the GOT turns OFF "Reading information
completed."

How to Operate Robot Information 7-42

8Function Relevant Parameter

8 Function Relevant Parameter

8.1 Function Definition Parameter

Array Qty
Parameter
Parameter Character Description Factory Default
Name
Qty
Define function IQSPEC 1 digit inte- Set up function for robots. 0000000000000001
ger Set each function allocated by each bit.
0000000000000000 bit1-15: Not used
+--- bit0: Direction to write
into CPU buffer
memory

0: Reads/writes in order from first to last address

1: Reads in order from first to last address, writes in
order from last to first address
(communication specification among robot CPU of
GOT)

The access sequence of the CPU buffer memory of the robot controller is direction to the final address from
the top address for both of reading and writing. However, the GOT’s communication specification among
robot controllers is direction from last to start address for writing. Thus, when a system is designed accord-
ing to the CPU buffer memory map specification, the interlock of dataset may be impossible. (For more
information, refer to the Fig. 8-1.)
Therefore, when utilizing CPU buffer memory expanded function, it is necessary to make the CPU buffer
memory access order the same as the specification of the GOT. We provide the parameter (IQSPEC) to
solve it. The initial value is set to the same specification as the GOT, so its change by customer is not nec-
essary at all. If the access sequence of the CPU buffer memory direction to the final address from the top
address for both of reading and writing is necessary, it can specify with this parameter.

Prevention of separation of data over 32 bits

When user’s free area is used
The program reads in order from start of user’s free area. In write command, the transmission data is
written in order from last to start address of user’s free area.
Consequently, the interlock device at the start of data for communication can prevent separation of data
for communication

CPU buffermemory
Shared memory
Low GOT
Sequencer
GOT’s
Sequencer's Write Robot's
handling
handling
Interlock Read
handling

Transmission
data
Robot's writing
Robot’s writing direction
direction
isischanged
changedto tothe
the same
same
asasGOT
sequencer

Robot output

Interlock
Read Write
Transmission
data

High

Fig.8-1:Change the writing order of CPU buffer memory data

8-43Function Definition Parameter

 9Extended Function Relevant Error List

9 Extended Function Relevant Error List

(1) Error occurred when MELFA-BASIC IV is selected while CPU buffer memory extended function is valid

Error No Error Cause and Measure

L3994 Error message Shared memory extended function unavailable (MB4)
Cause CPU buffer memory extended function is unavailable in MELFA-BASIC IV.
The parameter RLNG=1 (MELFA-BASIC IV) is selected while CPU buffer memory extended
function is valid. Make sure to set the parameter RLNG to 2 (MELFA-BASIC V) or 3 (MELFA-
BASIC VI (only RT ToolBox3)).
Measure Set the parameter RLNG to 2 (MELFA-BASIC V) or 3 (MELFA-BASIC VI (only RT ToolBox3)).

9-44
9Extended Function Relevant Error List

9-45
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