YASKAWA DX100 Instructions Manual page 104

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 Robot 1st axis pulse value
6 Robot 2nd axis pulse value
7 Robot 3rd axis pulse value
8 Robot 4th axis pulse value
9 Robot 5thaxis pulse value
10 Robot 6th axis pulse value
11 Robot 7th axis pulse value
12 Robot 8th axis pulse value
13 Tool No. (0 to 63)
14 Base 1st axis position (Pulse value)
15 Base 2nd axis position (Pulse value)
16 Base 3rdaxis position (Pulse value)
17 Station 1st axis position
(pulse value)
18 Station 2nd axis position
(pulse value)
19 Station 3rdaxis position
(pulse value)
20 Station 4th axis position
(pulse value)
21 Station 5th axis position
(pulse value)
22 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
Up to three axes
3-85
162529-1CD
: 0.1 mm/s
HW1480958
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