Janome JR3000 Series - Page 89

External Control (I/O / Fieldbus) 88 DESKTOP ROBOT JR3000
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TCP Direct Settings (Command Code 1004h)
Use this code if directly setting the TCP.
Example:
TCP settings for program number 8
Register Number Data (hex) Function
fbIn102 Command Instruction
bit0 : OFFON: execute command
fbIn103 1004 Command code
fbIn104 0001 : Program data Setting Destination
0 : All Program Common Settings
1 : Individual Program Settings
2 : Tool data
3 : All TCPs
fbIn105 0008 : Program number Program Number or Tool Data Number
For all program common settings, set to 0.
For all TCPs, set to 0.
fbIn106 – fbIn107 fbIn106 : 07D0
fbIn107 : 0000
TCP-X, 0.001 mm units
Example: 2.000 mm (2000) : 7D0h*
fbIn108 – fbIn109 fbIn108 : 079E
fbIn109 : 0000
TCP-Y, 0.001 mm units
Example: 1.950 mm (1950) : 79Eh
fbIn10A – fbIn10B fbIn10A : 0000
fbIn10B : 0000
TCP-ΔZ, 0.001 mm units
Example: 0 mm
fbIn10C – fbIn10D fbIn10C : 0000
fbIn10D : 0000
TCP-ΔR, 0.001 deg units
Example: 0 deg
NOTE:
Set this as 0.
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 Data (hex) Function
fbOut182 Command Response
bit0 : OFF: execution possible, ON: executing
fbOut183 0000 Return Code
bit0 : 0: normal, FFEF: parameter error
NOTE:
This error occurs when there is no
specified program or tool data.