YASKAWA DX100 Instructions Manual page 101

162529-1CD
DX100
32bit integer Byte 0 Byte 1
1 Specifying control group (Robot)
2 Specifying control group (Station)
3 Specifying the classification in speed
4 Specifying a speed
5 Specifying the operation coordinate
6
X coordinate value (unit:
7
Y coordinate value (unit:
8
Z coordinate value (unit:
9 Tx coordinate value
(unit: 0.0001 degree)
10 Ty coordinate value
(unit: 0.0001 degree)
11 Tz coordinate value
(unit: 0.0001 degree)
12 Reservation
13 Reservation
14 Type
15 Expanded type
16 Tool No. (0 to 63)
17 User coordinate No. (1 to 63)
18
Base 1st axis position (unit:
19
Base 2nd axis position (unit:
20
Base 3rd axis position (unit:
21 Station 1st axis position
(pulse value)
22 Station 2nd axis position
(pulse value)
23 Station 3rd axis position
(pulse value)
24 Station 4th axis position
(pulse value)
25 Station 5th axis position
(pulse value)
26 Station 6th axis position
(pulse value)
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Data part
Byte 2 Byte3 <Details>
1 to 8 (Robot No.)
1 to 24 (Station No.)
Specify the classification of operations
0: % (Link operation)
1: V (Cartesian operation)
2: VR (Cartesian operation)
Specify the rate
Link operation : 0.01%
Cartesian operation V speed
Cartesian operation VR speed : 0.1 degree/s
Specify the operation coordinate
16: Base coordinate
17: Robot coordinate
18: User coordinate
19: Tool coordinate
μ
m)
μ
m)
μ
m)
Refer to following data at the next page for details
μ
Up to three axes
m)
μ
m)
μ
m)
3-82
: 0.1 mm/s
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