Omron SCARA YRCX Series Programming Manual page 350

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Hand definition file
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10-18 Chapter 10 Data file description
All hand data
Read-out When used as a read-out file, all hand data currently stored are read out.
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Write When used as a write file, writing is performed with a hand number.
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Format
HND
Meaning • Expresses all hand data.
DATA FORMAT
Hm = n,fxxxxxx, fyyyyyy, fzzzzzz ,{R}[cr/lf]
:
Hm = n,fxxxxxx, fyyyyyy, fzzzzzz ,{R}[cr/lf]
[cr/lf]
Values m ........................................... Hand number: 0 to 31
n ............................................ Robot number: 1 to 4
f .............................................Coordinate sign: + / - / space
xxxxxx/yyyyyy/zzzzzz ............ Represent a real numeric value of 7 digits or less,
{R} ..........................................Indicates whether a hand is attached to the R-axis.
A line containing only [cr/lf] is added at the end of the file, indicating the end of the file.
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SAMPLE
SEND HND TO CMU ················· O u t p u t s
Response:
RUN [cr/lf]
H0 = 1, 0.000, 0.000, 0.000 [cr/lf]
H1 = 1, 1.000, 1.000, 1.000 [cr/lf]
H2 = 2, 2.000, 2.000, 2.000 [cr/lf]
H3 = 2, 3.000, 3.000, 3.000 [cr/lf]
H4 = 3, 4.000, 4.000, 4.000 [cr/lf]
H5 = 3, 5.000, 5.000, 5.000 [cr/lf]
H6 = 4, 6.000, 6.000, 6.000 [cr/lf]
H7 = 4, 7.000, 7.000, 7.000 [cr/lf]
[cr/lf]
END [cr/lf]
having 3 or less places below the decimal point, or an
integer of 7 digits or less. (This numeric format depends
on the robot type setting and hand definition type.)
a l l h a n d
communication port.
d a t a f r o m t h e