Products

Support Device

Real Time Monitor Item

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Support Command	Description
JOINT_ (Pose variable[Joint Displacement Value])
TRANS_ (Pose Variable[Transformation Value])
REAL_ (Real Variable)
INT_ (Integer Variable)
STRING_ (String Variable)
W1 (Joint Angle Value)
W2 (Transformation Value)
W3 (Joint Instruction Value)
W4 (Joint Deviation)
W5 (Encoder Value)
W6 (Joint Speed)
W10 (Motor Current Value)
W14 (Motor Current Instruction Value)
W21 (Conveyor Sync Joint Angle Value)	Only when Conveyor option is enable.
W22 (Conveyor Sync Transformation Value)	Only when Conveyor option is enable.
W23 (Conveyor Sync Joint Instruction Value)	Only when Conveyor option is enable.
W24 (Conveyor Sync Joint Deviation)	Only when Conveyor option is enable.
W25 (Conveyor Sync Encoder Value)	Only when Conveyor option is enable.
W26 (Conveyor Sync Joint Speed)	Only when Conveyor option is enable.
IO(Internal Signal)
ERRLOG (Error Message Display)
ErrorStatus (Error Status)
OperatingMode (Operation Mode)
MotorPowerStatus (Motor Power State)
MonitorSpeed (Monitor Speed)
ProgramAlwaysSpeed (Program Speed_ALWAYS)
ProgramSpeed (Program Speed)
ProgramAccuracy (Program Accuracy)
ProgramExecutionState (Step State)
ProgramComplateCycles (Completed Program Cycles)
ProgramRemainingCycles (Remaining Program Cycles)
ExecutionProgram (Program Name in Execution)
ExecutionStepNo (Step in Execution)
PcStatus(PC Program Status)
PcStatus_Complete(PC Program Completed Program Cycles)
PcStatus_Remain(PC Program Remaining Program Cycles)
PcStatus_Program(PC Program Info)

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