5 Host Control Function of DX1005.2 Robot Control Function5-9157449-1CDRE-CKI-A456Data TransmissionFunction5.2.3 Command that Handle Axis DataThe data transmission function of the DX100 has restrictions on handlingcontrol axis data. For the following commands, the order of response data varies whetherthe number of robot's axes is 6 or 7.Object commands: RPOSJ, RPOSC, MOVJ, MOVL, IMOV, PMOVJ,PMOVL Since the manipulator axes are fixed to a six-axis set, any manipulatorhaving more than seven axes cannot use the following commands.Object commands: RUFRAME, WUFRAME5.2.4 Response to MOV-type CommandThe responses to MOV-type command are as follows.• If the manipulator is moving by operations other than commands, theinterpreter message 2010 (manipulator moving) is returned and themanipulator does not move.• If the manipulator is in stop status, it turns ON the start lamp andmoves according to the command, and returns a responseimmediately.• If the manipulator is moving according to the previous commands,only a single command is accepted and the response is held up.After completing execution of the preceding commands, whenstarting execution of the suspended command, the manipulatorreturns a response.This applied to the following commands.MOVJ, MOVL, IMOV, PMOVJ, PMOVL70 of 125
