YASKAWA DX100 Instructions Manual page 64

DX100
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
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
(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".
Details of data
Please refer to section 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
3-45
ө
bit0 0: L<180, 1:
ө
bit1 0: U<180, 1:
ө
bit2 0: B<180, 1:
ө
bit3 0: E<180, 1:
ө
bit4 0: W<180, 1:
bit5 Reserve
bit6 Reserve
bit7 Reserve
HW1480958
162529-1CD
ө ≥
L 180
ө ≥
U 180
ө ≥
B 180
ө ≥
E 180
ө ≥
W 180
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