YASKAWA DX100 Instructions Manual page 102

DX100
Form bit0 0: Front
bit1 0: Upper arm
bit2 0: Flip
ө
bit3 0: R<180,
ө
bit4 0: T<180,
ө
bit5 0: S<180,
bit6 Reserve
bit7 Reserve
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
: respond abnormally
Added status 0: not specified
•
size 1: 1 WORD
•
2: 2 WORD
•
Added status Error code specified by the added
status size
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Details of data
Please refer to section 3.9.5 "Flip/ No flip" in "DX100 OPERATOR'S
MANUAL" prepared for each application.
1: Back Extended
form
1: Lower arm
1:No flip
ө ≥
1: R 180
ө ≥
1: T 180
ө ≥
1: S 180
To move the base axis, specify the robot No. at the
specifying control group, and input the current value to the
following coordinate values.
•
X coordinate value (unit:
NOTE •
Y coordinate value (unit:
• Z
coordinate value (unit:
• Tx coordinate value (unit: 0.0001 degree)
• Ty coordinate value (unit: 0.0001 degree)
• Tz coordinate value (unit: 0.0001 degree)
Answer
Sub header part
<Details>
"1" indicates 1 WORD of added status data, and "2"
indicates 2 WORD of added status data.
The error code of 1 WORD exists if the added status
code is "1" and that of 2 WORD exists if the code is "2".
Data part
No data part
3-83
ө
bit0 0: L<180, 1:
ө
bit1 0: U<180, 1:
ө
bit2 0: B<180, 1:
ө
bit3 0: E<180, 1:
ө
bit4 0: W<180, 1:
bit5 Reserve
bit6 Reserve
bit7 Reserve
μ
m)
μ
m)
μ
m)
HW1480958
162529-1CD
ө ≥
L 180
ө ≥
U 180
ө ≥
B 180
ө ≥
E 180
ө ≥
W 180
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