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

DX100

3.3.34 Plural Robot Position Type Variable (P) Reading / Writing Command

Command No. 0x307
Instance Specify one out of followings
0 to 127 (for standard setting)
•
Attribute Fixed to "0"
Service 0x33 : Read plural data
0x34 : Write plural data
32bit integer Byte 0
1 Number
2 to 14 Data type
Form
Tool number
User coordinate number
Extended form
First coordinate data
Second coordinate data
Third coordinated data
Fourth coordinate data
Fifth coordinate data
Sixth coordinate data
Seventh coordinate data
Eighth coordinate data
:
106 to 118 Data type
Form
Tool number
User coordinate number
Extended form
First coordinate data
Second coordinate data
Third coordinated data
Fourth coordinate data
Fifth coordinate data
Sixth coordinate data
Seventh coordinate data
Eighth coordinate data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the variable number (the first number with which
reading/writing is executed)
Follow the numbers of the variable specified by the
parameter since the extended variable is an optional
function.
Specify "0"
Only batch access of all elements is valid
Specify the accessing method to the data.
0x33: Read plural data
0x34: Write plural data
Data part
Byte 1 Byte 2 Byte3
3-69
<Details>
Maximum: 9
0: Pulse value
16: Base coordinated value
17: Robot coordinated value
18: User coordinated value
19: Tool coordinated value
Form
Tool number
User coordinate number
Variable data part is valid only when writing.
Only the number of data is valid when
reading.
0: Pulse value
16: Base coordinated value
17: Robot coordinated value
18: User coordinated value
19: Tool coordinated value
Form
Tool number
User coordinate number
HW1480958
162529-1CD
88 of 119