YASKAWA DX100 Instructions Manual page 44

Data Transmission
Function
Byte type global
variable:
Integer type
global variable:
Double precision
type global
variable:
Real number type
global variable:
Position type
(robot axis)
global variable:
Position type
(base axis)
global variable:
3 DCI Function
3.7 Transmission Procedure
*1

± 
± 
7 significant digits
• Pulse type or XYZ type depending on the setting status
• The order varies depending on the number of robot's axes.
Pulse type
 6-axis robot
S, L, U, R, B, T (Unit : pulse)
(-999999999 to 999999999)
 7-axis robot
S, L, U, R, B, T, E (Unit : pulse)
(-999999999 to 999999999)
XYZ type
 6-axis robot
X, Y, Z, Rx, Ry, Rz, TYPE
Unit : mm, significant 3 decimal points
-999999.999 to 999999.999
 7-axis robot
X, Y, Z, Rx, Ry, Rz, Re, TYPE
Unit : degree (°), significant 4 decimal points
Unit : mm, significant 3 decimal points
-999999.999 to 999999.999
Pulse type or XYZ type depending on the internal setting status
Pulse type
1, 2, 3 (Unit : pulse)
(-999999999 to 999999999)
XYZ type
X, Y, Z (Unit : mm, significant 3 decimal points)
(-999999.999 to 999999.999)
3-16
(0 to 255)
(-32768 to +32767)
(-2147483648 to 2137383647)
(-1.70141E+38 to +1.70141E+38)
d0 = 0 : Flip d0 = 1 : No flip
d1 = 0 : Up d1 = 1 : Back
Unit : degree (°), significant 4 decimal points
-9999.9999 to 9999.9999
d0 = 0 : Flip d0 = 1 : No flip
d1 = 0 : Up d1 = 1 : Back
-9999.9999 to 9999.9999
157449-1CD
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RE-CKI-A456