YASKAWA DX100 Instructions Manual page 63

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
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
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".
3-44
ө ө
bit0 0: L<180, 1:
ө ө
bit1 0: U<180, 1:
ө ө
bit2 0: B<180, 1:
ө ө
bit3 0: E<180, 1:
ө ө
bit4 0: W<180, 1:
bit5 Reserve
bit6 Reserve
bit7 Reserve
HW1480958
≥
L 180
≥
U 180
≥
B 180
≥
E 180
≥
W 180
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