YASKAWA DX100 Instructions Manual page 81

157449-1CD
Data Transmission
Function

5 Host Control Function of DX100
5.2 Robot Control Function
RUFRAME
Reads a specified user coordinate data.
Command format : RUFRAME Data-1
Data-1 = User coordinate No.
0 : Reserved
1 : Reserved
2 : User coordinate 1
:
:
65 : User coordinate 64
Response format : Data-1, Data-2,  Data-28
Data-1 = ORG X coordinate value (unit : mm, significant 3 decimal
points)
Data-2 = ORG Y coordinate value (unit : mm, significant 3 decimal
points)
Data-3 = ORG Z coordinate value (unit : mm, significant 3 decimal
points)
Data-4 = ORG wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-5 = ORG wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-6 = ORG wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-7 = ORG type
Data-8 = XX X coordinate value (unit : mm, significant 3 decimal
points)
Data-9 = XX Y coordinate value (unit : mm, significant 3 decimal
points)
Data-10 = XX Z coordinate value (unit : mm, significant 3 decimal
points)
Data-11 = XX wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-12 = XX wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-13 = XX wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-14 = XX type
Data-15 = XY X coordinate value (unit : mm, significant 3 decimal
points)
Data-16 = XY Y coordinate value (unit : mm, significant 3 decimal
points)
Data-17 = XY Z coordinate value (unit : mm, significant 3 decimal
points)
Data-18 = XY wrist angle TX (unit : degree (°), significant 4 decimal
points)
Data-19 = XY wrist angle TY (unit : degree (°), significant 4 decimal
points)
Data-20 = XY wrist angle TZ (unit : degree (°), significant 4 decimal
points)
Data-21 = XY type
Data-22 = Tool No. (0 to 63)
Data-23 = Number of 7th axis pulses (for travel axis, mm)
Data-24 = Number of 8th axis pulses (for travel axis, mm)
5-20
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RE-CKI-A456