YASKAWA DX100 Operator's Manual page 365

155507-1CD
DX100
M010= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M011= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M012= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M013= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M014= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M015= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M016= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M017= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M018= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M019= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M020= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M021= Upper 2 bytes of the manipulator's present cartesian position (FB value)
M022= Lower 2 bytes of the manipulator's present cartesian position (FB value)
M023= Upper 2 bytes of the
6 Convenient Functions
6.13 Present Manipulator Position Output Function
(Example 2)
S1C1G
217
218
219
220
221
222
223
224
225
When setting the parameter as above, the manipulator's present cartesian
position is output to the registers as follows
manipulator's present cartesian position (FB value)
6-125
Setting value
1
1
10
12
14
16
18
20
22
X
X
Y
Y
Z
Z
Rx [unit: 0.001deg]
Rx [unit: 0.001deg]
Ry [unit: 0.001deg]
Ry [unit: 0.001deg]
Rz [unit: 0.001deg]
Rz [unit: 0.001deg]
Re [unit: 0.001deg]
Re [unit: 0.001deg]
RE-CSO-A037
µ
[unit: mm]
µ
[unit: mm]
µ
[unit: mm]
µ
[unit: mm]
µ
[unit: mm]
µ
[unit: mm]
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