YASKAWA DX100 Operator's Manual page 364

DX100
M010 = Manipulator's present cartesian position (command value) X
M011 = Manipulator's present cartesian position (command value) Y
M012 = Manipulator's present cartesian position (command value) Z
M013 = Manipulator's present cartesian position (command value) Rx [unit: deg]
M014 = Manipulator's present cartesian position (command value) Ry [unit: deg]
M015 = Manipulator's present cartesian position (command value) Rz [unit: deg]
M016 = Manipulator's present cartesian position (command value) Re [unit: deg]
6 Convenient Functions
6.13 Present Manipulator Position Output Function
(Example 1)
S1C1G
208
209
210
211
212
213
214
215
216
When setting the parameter as above, the manipulator's present cartesian
position is output to the registers as follows.
6-124
Setting value
1
0
10
11
12
13
14
15
16
RE-CSO-A037
155507-1CD
[unit: mm]
[unit: mm]
[unit: mm]
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