Robot Position Data Reading Command - YASKAWA DX100 Instructions Manual

DX100

3.3.6 Robot Position Data Reading Command

Command No. 0x75
Instance Specify one out of followings
1 to 8
•
11 to 18
•
21 to 44
•
101 to 108
•
Attribute Specify one out of followings
1: Data type
2: Form
3: Tool number
4: User coordinate number
5: Extended form
6: First axis data
7: Second axis data
8: Third axis data
9: Fourth axis data
10: Fifth axis data
11: Sixth axis data
12: Seventh axis data
13: Eighth axis data
Get_Attribute_Single: 0x0E
Service
•
Get_Attribute_All: 0x01
•
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Cartesian value can select the base coordinate only. (It cannot select the
robot, user and tool coordinates.)
Request
Sub header part
<Details>
Specify the control group
1
11
21
101 : R1 to 108 : R8
Specify the position information data number.
1 0: pulse value/16: base coordinate value
2 As for the form, refer to the "Details of data".
3 Tool number
4 User coordinate number
5 As for the extended form, refer to the "Details of data".
6 First axis data
7 Second axis data
8 Third axis data
9 Fourth axis data
10 Fifth axis data
11 Sixth axis data
12 Seventh axis data
13 Eighth axis data
Each axis data is output by the same sequence as
mentioned in section 3.3.5 "Axis Configuration
Information Reading Command", and "0" is set to
nonexistent axis.
Specify the accessing method to the data.
0x0E: Read out data of the specified element number
0x01: Read out data of all the element number
3-31
: R1 to 8 : R8 ... Robot (pulse value)
: B1 to 18 : B8 ... Base (pulse value)
: S1 to 44 : S24 ... Station (pulse value)
... Robot
(cartesian coordinate)
(In this case, specify0 to the element number.)
HW1480958
162529-1CD
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