Robot Position Type Variable (P) Reading / Writing Command - YASKAWA DX100 Instructions Manual

DX100

3.3.16 Robot Position Type Variable (P) Reading / Writing Command

Command No. 0x7F
Instance Specify one out of followings
0 to 127 (for standard setting)
•
Attribute Specify one out of followings
1: Data type
2: Form
3: Tool number
4: User coordinate number
5: Extended form
6: "Coordinated data" of the first axis
7: "Coordinated data" of the second axis
8: "Coordinated data" of the third axis
9: "Coordinated data" of the fourth axis
10: "Coordinated data" of the fifth axis
11: "Coordinated data" of the sixth axis
12: "Coordinated data" of the seventh axis
13: "Coordinated data" of the eighth axis
Service Get_Attribute_All: 0x01
•
Set_Attribute_All: 0x02
•
32bit integer Byte 0 Byte 1
1 Data type
2 Form
3 Tool number
4 User coordinate number
5 Extended form
6 First coordinate data
7 Second coordinate data
8 Third coordinated data
9 Fourth coordinate data
10 Fifth coordinate data
11 Sixth coordinate data
12 Seventh coordinate data
13 Eighth coordinate data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
Data part
(Data exists during the writing operation only)
Byte 2 Byte3 <Details>
0: Pulse value
16: Base coordinated value
17: Robot coordinated value
18: User coordinated value
19: Tool coordinated value
For the form, refer to "Details of data".
Tool number
User coordinate number
For the extended form, refer to "Details of data".
3-43
<Details>
Specify the variable number.
Since the extended variable is an optional
function, follow the numbers of the variables
specified by the parameter when specifying the
number.
Specify the axis information data number.
Followings are the data type.
0: Pulse value
16: Base coordinated value
17: Robot coordinated value
18: User coordinated value
19: Tool coordinated value
Specify the accessing method to the data.
0x0E/0x01: Read out data of the specified
element number
0x10/0x02: Write the data to the specified
variable
HW1480958
162529-1CD
62 of 119