Janome JR3000 Series - Page 90

External Control (I/O / Fieldbus) 89 DESKTOP ROBOT JR3000
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Set the TCP by Specifying 2 Points (Command Code 1005h)
With 4 axis specifications, when you change the R axis and specify the same point as
previously specified, the TCP is set from these two positions.
The settings location and method of specifying the program number or tool number are
the same as they are for command code 1004h. The 1st point and 2nd point positions are
positions displayed in common data.
Example:
TCP settings for program number 8
Register Number Data (hex) Function
fbIn102 Command Instruction
bit0 : OFFON: execute command
fbIn103 1005 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 : BD30
fbIn107 : 0003
1st point, X coordinates, 0.0005 mm units
Example: 122.520 mm (245040) : 3BD30h*
1
fbIn108 – fbIn109 fbIn108 : 4340
fbIn109 : 0004
1st point, Y coordinates, 0.0005 mm units
Example: 139.680 mm (279360) : 44340h
fbIn10A – fbIn10B fbIn10A : A4B4
fbIn10B : 0001
1st point, Z coordinates, 0.0005 mm units
Example: 53.850 mm (107700) : 1A4B4h
fbIn10C – fbIn10D fbIn10C : 0000
fbIn10D : 0000
1st point, R coordinates, 0.0005deg units
Example: 0 deg
fbIn10E – fbIn10F fbIn10E : FD44
fbIn10F : 0004
2nd point, X coordinates, 0.0005 mm units
Example: 163.490 mm (326980) : 4FD44h
fbIn110 – fbIn111 fbIn110 : A7B4
fbIn111 : 0003
2nd point, Y coordinates, 0.0005 mm units
Example: 119.770 mm (239540) : 3A7B4h
fbIn112 – fbIn113 fbIn112 : AC48
fbIn113 : 0001
2nd point, Z coordinates, 0.0005 mm units
Example: 54.820 mm (109640) : 1AC48h
fbIn114 – fbIn115 fbIn114 : BF20
fbIn115 : 0002
2nd point, R coordinates, 0.0005 deg units
Example: 90.00 deg (180000) : 2BF20h*
2
The conversion expressions from the coordinates to the values in parentheses ( ) are as follows:
*1:
122.520 [mm] (coordinates) / 0.0005 [mm] (unit) = 245040 : 3BD30h (hexadecimal)
*2:
90.00 deg (coordinates) / 0.0005deg (unit) = 180000 : 2BF20h (hexadecimal)