YASKAWA MOTOMAN-DX100 Instructions Manual page 37

156191-1CD
DX100
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4 Interface with an Easy Offline Teaching System
4.1 Job Data Format
RECTAN
Function: Represents that Cartesian data is defined during and after this
pseudo instruction.
Format: ///RECTAN
<Cartesian data>: <C>|<BC>|<P>|<BP>
<C>: <Cxxxxx> = <X>,<Y>,<Z>,<Rx>,<Ry>,<Rz>,<Re>
<BC>: <BCxxxxx> = <1>,<2>,<3>
<P>: <Pyyyy> = <X>,<Y>,<Z>,<Rx>,<Ry>,<Rz>,<Re>
<BP>: <BPyyyy> = <1>,<2>,<3>
<Cxxxxx>: Robot axis teaching position
<BCxxxxx>: Base axis teaching position
<Pyyyy>: Robot axis position variables
<BPyyyy : Base axis position variables
<X> : X-axis Cartesian data
<Y> : Y-axis Cartesian data
<Z> : Z-axis Cartesian data
<Rx> : Rx-axis Cartesian data
<Ry> : Ry-axis Cartesian data
<Rz> : Rz-axis Cartesian data
<Re> : Re-axis Cartesian data
<1> : 1-axis Cartesian data
<2> : 2-axis Cartesian data
<3> : 3-axis Cartesian data
RCONF
Function : Represents the manipulator type of the Cartesian data defined
during and after this pseudo instruction.
Format : ///RCONF <l>,<m>,<n>,<o>,<p>,<q>,<r1>,<r2>,<r3>,
<r4>,<r5>,<r6>,<r7>,<r8>,<r9>,<r10>,<r11>,
<r12>,<r13>,<r14>,<r15>,<r16>,<r17>,<r18>
<l>: 0: Flip, 1: No-flip
<m>: 0: Upper arm, 1: Lower arm
<n>: 0: Front, 1: Rear
<o>: 0: R < 180, 1: R >= 180
<p>: 0: T < 180, 1: T >= 180
<q>: 0: S < 180, 1: S >= 180
<r1> to <r18>: unused
For manipulator type, refer to chapter 4.3 "Configuration of Position Data"
at page 4-21.
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