YASKAWA DX100 Instructions Manual page 82

Data Transmission
Function
5 Host Control Function of DX100
5.2 Robot Control Function
Data-25 = Number of 9th axis pulses (for travel axis, mm)
Data-26 = Number of 10th axis pulses
Data-27 = Number of 11th axis pulses
Data-28 = Number of 12th axis pulses
• ORG, XX, XY coordinates are read in the base coordinate system.
• In a system having no external axis, Data-23 to Data-28 are "0".
• If the specified user coordinate system is not registered, an error
occurs.
• If the group axis of the specified user coordinate system is not R1, an
error occurs.
• If ORG, XX, and XY have different base axis data, an error occurs.
• For 7-axis robots, this command cannot be used.
<Example>
Command RUFRAME 2
Response 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, , 0
5-21
157449-1CD
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RE-CKI-A456