Janome JR3000 Series Operation Manual page 90

■ Set the TCP by Specifying 2 Points (Command Code 1005h)
With 4 axis specifications, when you change the R axis and specify the same point as
previously specified, the TCP is set from these two positions.
The settings location and method of specifying the program number or tool number are
the same as they are for command code 1004h. The 1st point and 2nd point positions are
positions displayed in common data.
Example: TCP settings for program number 8
Register Number
fbIn102
fbIn103
fbIn104
fbIn105
fbIn106 – fbIn107
fbIn108 – fbIn109
fbIn10A – fbIn10B
fbIn10C – fbIn10D
fbIn10E – fbIn10F
fbIn110 – fbIn111
fbIn112 – fbIn113
fbIn114 – fbIn115
The conversion expressions from the coordinates to the values in parentheses ( ) are as follows:
*1: 122.520 [mm] (coordinates) / 0.0005 [mm] (unit) = 245040 : 3BD30h (hexadecimal)
*2: 90.00 deg (coordinates) / 0.0005deg (unit) = 180000 : 2BF20h (hexadecimal)
External Control (I/O / Fieldbus)
Data (hex)
1005
0001 : Program data
0008 : Program number
fbIn106 : BD30
fbIn107 : 0003
fbIn108 : 4340
fbIn109 : 0004
fbIn10A : A4B4
fbIn10B : 0001
fbIn10C : 0000
fbIn10D : 0000
fbIn10E : FD44
fbIn10F : 0004
fbIn110 : A7B4
fbIn111 : 0003
fbIn112 : AC48
fbIn113 : 0001
fbIn114 : BF20
fbIn115 : 0002
Command Instruction
bit0 : OFFON: execute command
Command code
Setting Destination
0 : All Program Common Settings
1 : Individual Program Settings
2 : Tool data
3 : All TCPs
Program Number or Tool Data Number
For all program common settings, set to 0.
For all TCPs, set to 0.
1st point, X coordinates, 0.0005 mm units
Example: 122.520 mm (245040) : 3BD30h*
1st point, Y coordinates, 0.0005 mm units
Example: 139.680 mm (279360) : 44340h
1st point, Z coordinates, 0.0005 mm units
Example: 53.850 mm (107700) : 1A4B4h
1st point, R coordinates, 0.0005deg units
Example: 0 deg
2nd point, X coordinates, 0.0005 mm units
Example: 163.490 mm (326980) : 4FD44h
2nd point, Y coordinates, 0.0005 mm units
Example: 119.770 mm (239540) : 3A7B4h
2nd point, Z coordinates, 0.0005 mm units
Example: 54.820 mm (109640) : 1AC48h
2nd point, R coordinates, 0.0005 deg units
Example: 90.00 deg (180000) : 2BF20h*
89
Function
DESKTOP ROBOT JR3000
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