YASKAWA DX100 Instructions Manual page 89

162529-1CD
DX100
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status size 0: no added status
•
1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
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
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".
Data part
(Data exists during the writing operation only)
Byte 1 Byte 2 Byte3
3-70
<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
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