Janome JR3000 Series Operation Manual page 91

Example: Normal
Register Number
fbOut182
fbOut183
■ Acquire Current Position Coordinates (Command Code 1010h)
This requests transmission of the robot's current position coordinates.
The robot returns the current positions (X coordinate, Y coordinate, Z coordinate and R
coordinate values) in response to this request.
Register Number
fbIn102
fbIn103
Example: Normal
Register Number
fbOut182
fbOut183
fbOut184 – fbOut185
fbOut186 – fbOut187
fbOut188 – fbOut189
fbOut18A – fbOut18B
The conversion expressions from the coordinates to the values in parentheses ( ) are as follows:
*1: 12.345 [mm] (coordinates) / 0.0005 [mm] (unit) = 24690 : 6072h (hexadecimal)
*2: -5.100 deg (coordinates) / 0.0005 deg (unit) = -10200 : FFFFD828h (hexadecimal)
External Control (I/O / Fieldbus)
Data (hex)
0000
Data (hex)
1010
Data (hex)
0000
fbOut184 : 6072
fbOut185 : 0000
fbOut186 : 1A80
fbOut187 : 0006
fbOut188 : 6378
fbOut189 : 0001
fbOut18A : D828
fbOut18B : FFFF
Function
Command Response
bit0 : OFF: execution possible, ON: executing
Return Code
0 : normal, FFEF : parameter error
NOTE: This error occurs when there is no
specified program or tool data.
Function
Command Instruction
bit0 : OFFON: execute command
Command Code
Function
Command Response
bit0 : OFF: execution possible, ON: executing
Return Code
0: normal, FFEF: parameter error
X coordinates, 0.0005 mm units
Example: 12.345 mm (24690) : 6072h*
Y coordinates, 0.0005 mm units
Example: 200.000 mm (400000) : 61A80h
Z coordinates, 0.0005 mm units
Example: 45.500 mm (91000) : 16378h
R coordinates, 0.0005 deg units
Example: -5.100 deg (-10200) : FFFFD828h*
90
1
DESKTOP ROBOT JR3000
2