YASKAWA DX100 Instructions Manual page 52

DX100
32bit integer Byte 0 Byte 1
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
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
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Data part
Byte 2 Byte3 <Details>
0: Pulse value/ 16: Base coordinate value
For the form, refer to "Details of data".
Tool number
User coordinate number
For the extended form, refer to "Details of data".
Details of data
Please refer "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
1: Redundant
back
3-33
162529-1CD
ө ө ≥
bit0 0: L<180, 1: L 180
ө ө ≥
bit1 0: U<180, 1: U 180
ө ө ≥
bit2 0: B<180, 1: B 180
ө ө ≥
bit3 0: E<180, 1: E 180
ө ө ≥
bit4 0: W<180, 1: W
bit5 Reserve
bit6 Reserve
bit7 Reserve
HW1480958
180
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