Point Data Reading - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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5.6
Point data is read.
Output
n
NOTE
The "Data" is output as 2-word, Little Endian data.
Commands and data
n
Command (WIN0)
0300h
5
0301h
0302h
0303h
0304h
0305h
0306h
0307h
0308h
0309h
030Ah
030Ch
TIP
For point data details, see section 2, "Point data", in Chapter 3.
5-38
Point data reading
Input
WIN3
WOUT3
Command Option
Point No. (WIN1)
1(0001h)
to
255(00FFh)
Command Option
WIN2
-
Point No.
Command Response
WOUT2
Data
Point No. (response)
Command Response
Data (WOUT2, WOUT3)
Standard Setting
Operation type
Position
Speed
Acceleration
Deceleration
Push force
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
Command
WIN1
WIN0
03xxh
Status
WOUT1
WOUT0
0200h
Unit
Custom Setting
-
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
%
0.01mm/s
Other than TS-P
: 0.01m/s
%
TS-P
: 0.001m/s
%
%
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
Other than TS-P
: 0.01mm
TS-P
: 0.001mm
-
-
ms
2
2

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