Toshiba TSL3000 Communications Manual page 132

series Robot Controller
(9) Current position information
Motion
status
Axis 3 current
position
(integer part)
Axis 1 current position
(real number)
Axis 4 current position
(real number)
Axis 1 motor torque
current value
(real number)
Axis 4 motor torque
current value
(real number)
No. Name Size (byte)
1 Motion 1 (Fixed)
status
2 Program - (Variable) Line number during program execution
execution
line
number
Current - (Variable) Joint coordinate value of axis 1 to axis 6
3
position
to
8
Program Axis 1 current position
execution
Axis 4 current
position
(integer part)
Axis 2 current position
(real number)
Axis 5 current position
(real number)
Axis 2 motor torque
current value
(real number)
Axis 5 motor torque
current value
(real number)
0: STOP (RESET)
1: RUN
2: STOP (RETRY)
3: STOP (CONTINUE)
However, the decimal point is deleted and only
integer part is sent.
– 127 –
COMMUNICATION MANUAL
(integer part)
Axis 5 current
position
(integer part)
Axis 3 current position
Axis 6 current position
Description
Axis 2 current
position
(integer part)
Axis 6 current
position
(integer part)
(real number)
(real number)
Axis 3 motor torque
current value
(real number)
Axis 6 motor torque
current value
(real number)
STE 80722