YASKAWA DX100 Instructions Manual page 98

Data Transmission
Function

5 Host Control Function of DX100
5.2 Robot Control Function
PMOVJ
Moves a manipulator to a specified pulse position in joint motion.
Command format : PMOVJ Data-1, Data-2, , Data-15
* The order varies depending on the number of robot's axes.
6-axis robot
Data-1 Motion speed (0.01 to 100.0 %)
Data-2 Number of S-axis pulses
Data-3 Number of L-axis pulses
Data-4 Number of U-axis pulses
Data-5 Number of R-axis pulses
Data-6 Number of B-axis pulses
Data-7 Number of T-axis pulses
Data-8 Tool No. (0 to 63)
Data-9 Number of 7th axis pulses
Data-10 Number of 8th axis pulses
Data-11 Number of 9th axis pulses
Data-12 Number of 10th axis pulses
Data-13 Number of 11th axis pulses
Data-14 Number of 12th axis pulses
Data-15 -
• In a system without external axis, Data-9 to Data-14 (for 7-axis
robots, Data-10 to Data-15) should be set to "0".
Response format : 0000 or Error code
<Example>
Command PMOVJ 20.0, 100, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
5-37
157449-1CD
7-axis robot
Motion speed (0.01 to 100.0 %)
Number of S-axis pulses
Number of L-axis pulses
Number of U-axis pulses
Number of R-axis pulses
Number of B-axis pulses
Number of T-axis pulses
Number of E-axis pulses
Tool No. (0 to 63)
Number of 7th axis pulses
Number of 8th axis pulses
Number of 9th axis pulses
Number of 10th axis pulses
Number of 11th axis pulses
Number of 12th axis pulses
RE-CKI-A456
98 of 125