Janome JR3000 Series Operation Manual page 93

■ Acquire TCP Specified Tool Tip Position (Command Code 1012h)
This command transmits the TCP values and requests transmission of the 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
fbIn104 – fbIn105
fbIn106 – fbIn107
fbIn108 – fbIn109
fbIn10A – fbIn10B
The conversion expression from the coordinate to the value in parentheses ( ) is as follows:
* 2.000 [mm] (coordinates) / 0.001 [mm] (unit) = 2000 : 7D0h (hexadecimal)
Example: Normal
Register Number
fbOut182
fbOut183
fbOut184 – fbOut185
fbOut186 – fbOut187
fbOut188 – fbOut189
fbOut18A – fbOut18B
External Control (I/O / Fieldbus)
Data (hex)
1012
fbIn104 : 07D0
fbIn105 : 0000
fbIn106 : 079E
fbIn107 : 0000
fbIn108 : 0000
fbIn109 : 0000
fbIn10A : 0000
fbIn10B : 0000
Data (hex)
0000
fbOut184 : 0FA0
fbOut185 : 0000
fbOut186 : 0F3C
fbOut187 : 0000
fbOut188 : 0000
fbOut189 : 0000
fbOut18A : 0000
fbOut18B : 0000
Function
Command Instruction
bit0 : OFFON: execute command
Command Code
TCP-X, 0.001 mm units
Example: 2.000 mm (2000) : 7D0h*
TCP-Y, 0.001 mm units
Example: 1.950 mm (1950) : 79Eh
TCP-ΔZ, 0.001 mm units
Example: 0 mm
TCP-ΔR, 0.001 deg units
Example: 0 deg
NOTE: Set this as 0.
Function
Command Response
bit0 : OFF: execution possible, ON: Executing
Return Code
0: normal, FFEF: parameter error
X coordinates, 0.0005 mm units
Example: 2.000 mm (4000) : FA0h
Y coordinates, 0.0005 mm units
Examples: 1.950 mm (3900) : F3Ch
Z coordinates, 0.0005 mm units
Examples: 0 mm
R coordinates, 0.0005 deg units
Example: 0 deg
92 DESKTOP ROBOT JR3000