YASKAWA DX100 Instructions Manual page 90

Data Transmission
Function

5 Host Control Function of DX100
5.2 Robot Control Function
CGROUP
Changes an objective control group of various commands used in the host
control function.
The DX100 can support multiple number of manipulators and stations. In
this case, CGROUP is used when any control group for commands such
as RPOSC is to be changed.
When the power supply is started up, robot 1, base 1, and station 1 (when
a base and a stations exist) are specified.
Command format : CGROUP Data-1, Data-2
Data-1 = Robot control group specification.
A control group can be specified according to the following data.
However, the following settings cannot be made.
• Selection of control axis which does not exist
• Specification of multiple number of manipulators
In a system with a base axis (such as travel axis), when the manipulator
with this base axis is specified, this base axis is automatically specified.
D31... D15 D14 D13 D12 D11 D10 D9 D8 D7 D6
5-29
D5 D4 D3 D2 D1 D0
RE-CKI-A456
157449-1CD
R1: Robot 1
R2: Robot 2
R3: Robot 3
R4: Robot 4
R5: Robot 5
R6: Robot 6
R7: Robot 7
R8: Robot 8
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