Appendix-588 Real-time external control function
7Appendix
7.1.1 Explanation of communication data packet
The structure of the communication data packet used with the real-time external control function is
explained in this section.
The same communication data packet for real-time external control is used for commanding the position
and for monitoring.
The contents differ when transmitting (commanding) from the personal computer to the controller and when
receiving (monitoring) from the controller to the personal computer.
Refer to the following communication data packet structure and section "5.2.2 Sample program for real-time
external control function", and create the application. The C language data type is used in the following
table.
Communication data packet
Command unsigned short
(2-byte)
Designate the validity of the real-time external command, and the
end.
0//
Real-time external command invalid
1//
Real-time external command valid
255//
Real-time external command end
Transmission data type des-
ignation
SendType
unsigned short
(2-byte)
1) When transmitting (commanding) from the personal computer to the
controller, designate the type of position data transmitted from
the personal computer.
There is no data at the first transmission.
0//
No data
1//
XYZ data
2//
Joint data
3//
Motor pulse data
2) When receiving (monitoring) from the controller to the personal
computer, indicate the type of position data replied from the
controller.
0//
No data
1//
XYZ data
2//
Joint data
3//
Motor pulse data
4//
XYZ data (Position after filter process)
5//
Joint data (Position after filter process)
6//
Motor pulse data (Position after filter process)
7//
XYZ data (Encoder feedback value)
8//
Joint data (Encoder feedback value)
9//
Motor pulse data (Encoder feedback value)
10 //
Current command [%]
11 //
Current feedback [%]
* It is the same as RecvType. You may use whichever.
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