YASKAWA DX100 Instructions Manual

Also see for MOTOMAN DX100: Instructions Instruction manual Instructions Instructions Instruction manual

Contents

YASKAWA DX100 Instructions Manual Manual pdf 65 page image

3-46162529-1CDHW1480958DX100 3 Transmission Procedure3.3 Respective Commands for Robot Control3.3.17 Base Position Type Variable (Bp) Reading / Writing CommandRequestSub header partData part(Data exists during the writing operation only)

Command No. 0x80Instance Specify one out of followings• 0 to 127 (for standard setting)Specify the variable number.Since the extended variable is an optionalfunction, follow the numbers of the variablesspecified by the parameter when specifying thenumber.Attribute Specify one out of followings1: Data type2: “Coordinated data” of the first axis3: “Coordinated data” of the second axis4: “Coordinated data” of the third axis5: “Coordinated data” of the fourth axis6: “Coordinated data” of the fifth axis7: “Coordinated data” of the sixth axis8: “Coordinated data” of the seventh axis9: “Coordinated data” of the eighth axisSpecify the axis information data number.Followings are the data type.0: Pulse value16: Base coordinated valueService • Get_Attribute_Single :0x0E• Get_Attribute_All :0x01• Set_Attribute_Single :0x10• Set_Attribute_All :0x02Specify the accessing method to the data.0x0E: Read out the specified data0x01: Read out the data0x10: Write a specified data. If it is not an objectelement, keep the data previous to writingoperation.0x02: Write the data32bit integer Byte 0 Byte 1 Byte 2 Byte3

1 Data type 0: Pulse value16: Base coordinated value2 First coordinate data3 Second coordinate data4 Third coordinated data5 Fourth coordinate data6 Fifth coordinate data7 Sixth coordinate data8 Seventh coordinate data9 Eighth coordinate data65 of 119