Janome JR3000 Series Operation Manual page 92

■ Acquire Tool Tip Position (Command Code 1011h)
This requests transmission of the robot's current tool tip position.
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 expression from the coordinate to the value in parentheses ( ) is as follows:
* 146.975 [mm] (coordinates) / 0.0005 [mm] (unit) = 293950 : 47C3Eh (hexadecimal)
External Control (I/O / Fieldbus)
Data (hex)
1011
Data (hex)
0000
fbOut184 : 7C3E
fbOut185 : 0004
fbOut186 : A3B8
fbOut187 : 0007
fbOut188 : 0000
fbOut189 : 0000
fbOut18A : 0000
fbOut18B : 0000
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: 146.975 mm (293950) : 47C3Eh*
Y coordinates, 0.0005 mm units
Example: 250.332 mm (500664) : 7A3B8h
Z coordinates, 0.0005 mm units
Example: 0 mm
R coordinates, 0.0005 deg units
Example: 0 deg
91 DESKTOP ROBOT JR3000