YASKAWA DX100 Instructions Manual page 96

Data Transmission
Function

5 Host Control Function of DX100
5.2 Robot Control Function
<Example>
Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
Response 0000
IMOV
Moves a manipulator from the current position for a specified coordinate
incremental value in linear motion.
Command format : IMOV Data-1, Data-2, , Data-18
Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture
speed))
Data-2 = Motion speed (0.1 to . mm/s, 0.1 to .° /s)
Data-3 = Coordinate specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
:
:
65 : User coordinate 64
66 : Tool coordinate
* The order varies depending on the number of robot's axes.
6-axis robot
Data-4 X coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-5 Y coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-6 Z coordinate incremental value
(unit : mm, significant 3 decimal
points)
Data-7 Wrist angle Rx incremental value
(unit : degree (°), significant 4
decimal points)
Data-8 Wrist angle Ry incremental value
(unit : degree (°), significant 4
decimal points)
Data-9 Wrist angle Rz incremental value
(unit : degree (°), significant 4
decimal points)
Data-10 Reserved
Data-11 Tool No. (0 to 63)
Data-12 Number of 7th axis pulses
(for travel axis, mm)
Data-13 Number of 8th axis pulses
(for travel axis, mm)
Data-14 Number of 9th axis pulses
(for travel axis, mm)
Data-15 Number of 10th axis pulses
Data-16 Number of 11th axis pulses
5-35
157449-1CD
7-axis robot
X coordinate incremental value
(unit : mm, significant 3 decimal
points)
Y coordinate incremental value
(unit : mm, significant 3 decimal
points)
Z coordinate incremental value
(unit : mm, significant 3 decimal
points)
Wrist angle Rx incremental value
(unit : degree (°), significant 4
decimal points)
Wrist angle Ry incremental value
(unit : degree (°), significant 4
decimal points)
Wrist angle Rz incremental value
(unit : degree (°), significant 4
decimal points)
Elbow angle Re incremental
value (unit : degree (°), significant
4 decimal points)
Reserved
Tool No. (0 to 63)
Number of 7th axis pulses
(for travel axis, mm)
Number of 8th axis pulses
(for travel axis, mm)
Number of 9th axis pulses
(for travel axis, mm)
Number of 10th axis pulses
RE-CKI-A456
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