YASKAWA MOTOMAN-DX100 Instructions Manual page 36

DX100

4 Interface with an Easy Offline Teaching System
4.1 Job Data Format
PULSE
Function: Represents that pulse data is defined during and after this
pseudo instruction.
Format: ///PULSE
<Pulse data>:<C>|<BC>|<EC>|<P>|<BP>|<EX>
<C>:<Cxxxxx>=<S>,<L>,<U>,<R>,<B>,<T>,<E>
<BC>:<BCxxxxx>=<1>,<2>,<3>
<EC>:<ECxxxxx>=<1>,<2>,<3>,<4>,<5>,<6>
<P>:<Pyyyy>=<S>,<L>,<U>,<R>,<B>,<T>,<E>
<BP>:<BPyyyy>=<1>,<2>,<3>
<EX>:<EXyyyy>=<1>,<2>,<3>,<4>,<5>,<6>
<Cxxxxx>: Robot axis teaching position
<BCxxxxx>: Base axis teaching position
<ECxxxxx>: External (station) axis teaching position
<Pyyyy>: Robot axis position variables
<BPyyyy>: Base axis position variables
<EXyyyy>: External (station) axis position variables
<S>: S-axis pulse data
<L>: L-axis pulse data
<U>: U-axis pulse data
<R>: R-axis pulse data
<B>: B-axis pulse data
<T>: T-axis pulse data
<E>: E-axis pulse data
<1>: 1-axis pulse data
<2>: 2-axis pulse data
<3>: 3-axis pulse data
<4>: 4-axis pulse data
<5>: 5-axis pulse data
<6>: 6-axis pulse data
xxxxx:= A number from 00000 to 09997
yyyy:= A number from 0000 to 9999
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