Appendix-586 Real-time external control function
7Appendix
7 Appendix
7.1 Real-time external control function
The robot motion movement control can retrieve the position command at real-time in cycle units, and move
to the commanded position. It is also possible to monitor the input/output signals or output the signals simul-
taneously.
Using the robot language Mxt command, real-time communication (command/monitor) is carried out with
communication.
The following table lists the position command data for giving the target move position from the personal
computer to the robot for each hour of the motion operation control cycle, and the monitor data types from
the robot.
For more information about communication data, see the Page 268, " Mxt (Move External)" and Page 588,
"7.1.1 Explanation of communication data packet" in this document.
Position command data type Monitor data type
[1] Rectangular coordinate data
[2] Joint coordinate data
[3] Motor pulse coordinate data
[1] Rectangular coordinate data
[2] Joint coordinate data
[3] Motor pulse coordinate data
[4] Rectangular coordinate data (command value after filter processing)
[5] Joint coordinate data (command value after filter processing)
[6] Motor pulse coordinate data (after filter processing)
[7] Rectangular coordinate data (encoder feedback value)
[8] Joint coordinate data (encoder feedback value)
[9] Motor pulse coordinate data (encoder feedback value)
[10] Current command (%)
[11] Current feedback (%)
Real-time external control packet
data * transmission/reception
CRn-500 robot controller
Robot program
E t h e r n e t
Windows personal
computer application
O P E N
P R I N T #
I N P U T #
CR750/CR751 series robot controller
Robot program
Open
Print #
Input #
Motion movement control cycle (approx. 7.1ms)
Command value calculation
Personal compute
Command position
transmission/reception
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