Axis Data Transmission Format - YASKAWA DX100 Instructions Manual

Data Transmission
Function
3.8
3 DCI Function

3.8 Axis Data Transmission Format

Axis Data Transmission Format
The DX100 data transmission function has the following restrictions on
transmission of the DX100 internal data.
The robot axes are fixed to a 6-axis set.
A base axis and a station axis are recognized as an external axis.
Up to three base axes are available. With station axis data added after
base axis data, up to six axes can be handled.
For example, SAVEV BP005 is read as SAVEV BP005 + EX005.
If the system lacks one of the variables, only the existing one is used.
If the system has both variables but not registered, an error occurs.
The definition of the robot, base, and station axes is used as it is, free of
the predetermined axis data R1, B1, and S1.
<Example>
Transmission data of SAVEV in different system configurations are
shown below.
• In a system having two base axes (X and Z) and no station axis
If BP005 is pulse type and 1st axis is 100 and 2nd axis is 200, then
SAVEV BP005 → 03, 007 100, 200, 0, 0, 0, 0
If BP005 is XYZ type and X-axis is 123.456 and Z-axis is 234.567, then
SAVEV BP005 → 03, 008 123.456, 234.567, 0,0, 0, 0
• In a system having no base axis and three station axes
If EX005 is pulse type and 1st axis is 500, 2nd axis is 600, and 3rd axis
is 700
SAVES EX005 → 03, 007 500, 600, 700, 0, 0, 0
• In a system having two base axes (X and Z) and three station axes
If BP005 is pulse type, 1st axis is 100 and 2nd axis is 200, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is
700, then
SAVEV BP005 → 03, 007 100, 200, 500, 600, 700, 0
(Same as for SAVEV EX005)
If BP005 is XYZ type, X axis is 123.456, and Z axis is 234.567, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is
700, then
SAVEV BP005 → 03, 008 123.456, 234.567, 500, 600, 700, 0
(same as for SAVEV EX005)
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