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ID : 2968
Acquiring Robot Data
The parameters of speed and acceleration for creating trajectory with external devices can map with Object dictionary. After setting up the connection between external devices and a robot controller, acquire the data.
Maximum speed and/or acceleration changes depending on the values of mass of payload set in the configuration list. Input the load weight to be attached to the arm end beforehand. Mass of payload can map with the object dictionary. Acquiring the setting value from the external devices is also possible.
Load Weight Setting
| Index | Subindex | Name | Datatype | Access right | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x2200 | 0x00 | Mass of Payload | UDINT | RO | - | Unit：g |
Maximum Speed
| Index | Subindex | Name | Datatype | Access right | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x6080 | 0x00 | Max MotorSpeed(J1) | REAL | RO | - | Unit：deg/s |
| 0x6880 | 0x00 | Max MotorSpeed(J2) | REAL | RO | - | Unit：deg/s |
| 0x7080 | 0x00 | Max MotorSpeed(J3) | REAL | RO | - | Unit：deg/s |
| 0x7880 | 0x00 | Max MotorSpeed(J4) | REAL | RO | - | Unit：deg/s |
| 0x8080 | 0x00 | Max MotorSpeed(J5) | REAL | RO | - | Unit：deg/s |
| 0x8880 | 0x00 | Max MotorSpeed(J6) | REAL | RO | - | Unit：deg/s |
| 0x9080 | 0x00 | Max MotorSpeed(J7) | REAL | RO | - | Unit：deg/s |
| 0x9880 | 0x00 | Max MotorSpeed(J8) | REAL | RO | - | Unit：deg/s |
Maximum Acceleration
| Index | Subindex | Name | Datatype | Access right | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x60C5 | 0x00 | Max Acceleration(J1) | REAL | RO | - | Unit：deg/s^2 |
| 0x68C5 | 0x00 | Max Acceleration(J2) | REAL | RO | - | Unit：deg/s^2 |
| 0x70C5 | 0x00 | Max Acceleration(J3) | REAL | RO | - | Unit：deg/s^2 |
| 0x78C5 | 0x00 | Max Acceleration(J4) | REAL | RO | - | Unit：deg/s^2 |
| 0x80C5 | 0x00 | Max Acceleration(J5) | REAL | RO | - | Unit：deg/s^2 |
| 0x88C5 | 0x00 | Max Acceleration(J6) | REAL | RO | - | Unit：deg/s^2 |
| 0x90C5 | 0x00 | Max Acceleration(J7) | REAL | RO | - | Unit：deg/s^2 |
| 0x98C5 | 0x00 | Max Acceleration(J8) | REAL | RO | - | Unit：deg/s^2 |
Load Rate
The load factor of which a robot is being performed can map with the object dictionary. After setting up the connection to external devices and a robot controller, acquire the data.
| Index | Subindex | Name | Datatype | Access right | Initial value | Comment |
|---|---|---|---|---|---|---|
| 0x2201 | 0ｘ00 | Load Rate(J1) | REAL | RO | - | Unit：% |
| 0x2202 | 0ｘ00 | Load Rate(J2) | REAL | RO | - | Unit：% |
| 0x2203 | 0ｘ00 | Load Rate(J3) | REAL | RO | - | Unit：% |
| 0x2204 | 0ｘ00 | Load Rate(J4) | REAL | RO | - | Unit：% |
| 0x2205 | 0ｘ00 | Load Rate(J5) | REAL | RO | - | Unit：% |
| 0x2206 | 0ｘ00 | Load Rate(J6) | REAL | RO | - | Unit：% |
| 0x2207 | 0ｘ00 | Load Rate(J7) | REAL | RO | - | Unit：% |
| 0x2208 | 0ｘ00 | Load Rate(J8) | REAL | RO | - | Unit：% |
ID : 2968