YASKAWA DX200 Instructions Manual page 41

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4 Hand Guiding Function Execution Procedures
4.6 Register Output Function
Table 4-2: Register output list
Register Contents
No.
501 Current X direction external force value
(Calibration result is reflected.) [N] + 10000
502 Current Y direction external force value
(Calibration result is reflected.) [N] + 10000
503 Current Z direction external force value
(Calibration result is reflected.) [N] + 10000
504 Current Rx direction external force value
(Calibration result is reflected.) [N•m] + 10000
505 Current Ry direction external force value
(Calibration result is reflected.) [N•m] + 10000
506 Current Rz direction external force value
(Calibration result is reflected.) [N•m] + 10000
507 X direction external force value after filtering
(Calibration result is reflected.) [N] + 10000
508 Y direction external force value after filtering
(Calibration result is reflected.) [N] + 10000
509 Z direction external force value after filtering
(Calibration result is reflected.) [N] + 10000
510 Rx direction external force value after filtering
(Calibration result is reflected.) [N•m] + 10000
511 Ry direction external force value after filtering
(Calibration result is reflected.) [N•m] + 10000
512 Rz direction external force value after filtering
(Calibration result is reflected.) [N•m] + 10000
513 X direction external force value at calibration ([0.1 N] + 10000)
514 Y direction external force value at calibration ([0.1 N] + 10000)
515 Z direction external force value at calibration ([0.1 N] + 10000)
516 Rx direction external force value at calibration ([0.1 N•m] + 10000)
517 Ry direction external force value at calibration ([0.1 N•m] + 10000)
518 Rz direction external force value at calibration ([0.1 N•m] + 10000)
519 Rx direction rotation angle (Cumulative when the hand guiding enable
signal is ON) [deg] + 10000
520 Ry direction rotation angle (Cumulative when the hand guiding enable
signal is ON) [deg] + 10000
521 Rz direction rotation angle (Cumulative when the hand guiding enable
signal is ON) [deg] + 10000
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