YASKAWA DX100 Instructions Manual page 103

157449-1CD
Data Transmission
Function
5 Host Control Function of DX100
5.2 Robot Control Function
Data-28 = Number of 11th axis pulses
Data-29 = Number of 12th axis pulses
Response format : 0000 or Error code
• ORG, XX, and XY coordinate are written in the base coordinate
system.
• In a system without external axis, Data-24 to Data-29 should be set
to "0".
• If the group axis of the specified user coordinate system is not R1, an
error occurs.
• For base axis data of ORG, XX, and XY, the same data should be
used.
• For 7-axis robots, this command cannot be used.
<Example>
Command WUFRAME 2, 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, , 0
Response 0000
5-42
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RE-CKI-A456