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Monitoring Window

The Monitoring window shows the controller’s current control status in tabular form.

image2021-11-29_17-25-28.png

Each row shows a monitoring item and each row’s column size varies for each monitoring item dimension. For example, “Joint Angle” needs six columns to display values from joint axis 1 to 6 and Controller Digital Input needs 16 columns to display its state from port 1 to 16.

Most of the status values are updated every 100 milliseconds. In the case of IO status, the values are updated when its value is changed.

Status information is as in the table below.

Joint Space

  • Actual/Target angle [degree], Velocity [degree/sec]

  • Actual Angle(ABS) [degree]

Task Space

(Base)

  • Actual/Target TCP [mm], Velocity [mm/sec]

  • Actual Flange Pose [mm]

  • Actual/Target Speed [mm/sec]

  • Solution Space

  • Tool X,Y,Z-Axis

Task Space

(World)

  • Actual/Target TCP [mm], Velocity [mm/sec]

  • Actual Flange Pose [mm]

  • Tool X,Y,Z-Axis

  • World to Base Relation

Task Space

(User)

  • Actual/Target TCP [mm], Velocity [mm/sec]

  • Actual Flange Pose [mm]

  • Tool X,Y,Z-Axis

  • User Coordinate ID

  • Parent Coordinate

Force

  • Joint Torque(Sensor) [Nm]

  • Motor Torque [Nm]

  • Force Torque Sensor [N], Acceleration Sensor [m/s2]

  • Joint Torque (Gravity/Model), Joint External Torque [Nm]

  • Task External Force (Base/World/User/Tool) [N]

Control Information

  • Operation Speed Mode

  • Control State

  • Current Tool

  • Current TCP

  • Collision Sensitivity

  • Singularity

IO

  • Flange digital Input (6), digital output (6)

  • Digital input (16), Digital output (16)

  • Analog input (2), Analog output (2)

  • Safety input (2)

  • Encoder Strobe Count (2)

  • Encoder Count (2)

ETC

  • Motor Current (A)

  • Inverter Temperature (℃)

  • Control Mode, Control Space

  • DRCF, DRCL State

  • Break State

  • Arm Button State

  • Switch State