YASKAWA DX100 Instructions Manual page 51

162529-1CD
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 0: Redundant
front
bit7 0: Previous step regarded reverse
conversion specified
1: Form regarded reverse conversion
specified
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status 0: no added status
•
size 1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Data part
No data part
Detail of data
Please refer section 3.9.5 "Flip/ No flip" in the "DX100 OPERATOR'S
MANUAL" prepared for each application.
1: Back
1: Lower arm
1:No flip
ө ≥
1: R 180
ө ≥
1: T 180
ө ≥
1: S 180
1: Redundant
back
Answer
Sub header part
<Details>
: respond abnormally
"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".
3-32
ө
Extended bit0 0: L<180,
form
ө
bit1 0: U<180,
ө
bit2 0: B<180,
ө
bit3 0: E<180,
ө
bit4 0: W<180,
bit5 Reserve
bit6 Reserve
bit7 Reserve
HW1480958
ө ≥
1: L 180
ө ≥
1: U 180
ө ≥
1: B 180
ө ≥
1: E 180
ө ≥
1: W 180
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