Janome JR3400 series - Page 86

External Control (I/O / Fieldbus) 85 DESKTOP ROBOT JR3000
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Point Data Position Settings (Command Code 1001h)
Specify the program number, point number and position data, and set the teaching data point
position.
Example:
Setting the position for point number 56, program number 12
Register Number Data (hex) Function
fbIn102 Command Instruction
bit0: OFFON: execute command
fbIn103 1001 Command Code
fbIn104 000C Program Number
Example: 12 : 0 Ch
fbIn105 0038 Point Number
Example: 56 : 38h
fbIn106 – fbIn107 fbIn106 : 6072
fbIn107 : 0000
X coordinates, 0.0005 mm units
Example: 12.345 mm (24690) : 6072h*
1
fbIn108 – fbIn109 fbIn108 : 1A80
fbIn109 : 0006
Y coordinates, 0.0005 mm units
Example: 200.000 mm (400000) : 61A80h
fbIn10A – fbIn10B fbIn10A : 6378
fbIn10B : 0001
Z coordinates, 0.0005 mm units
Example: 45.500 mm (91000) : 16378h
fbIn10C – fbIn10D fbIn10C : D828
fbIn10D : FFFF
R coordinates, 0.0005 deg units
Example: -5.1 deg (-10200) : FFFFD828h*
2
The conversion expressions from the coordinates to the values in parentheses ( ) are as follows:
*1:
12.345 [mm] (coordinates) / 0.0005 [mm] (unit) = 24690 : 6072h (hexadecimal)
*2:
5.1 deg (coordinates) / 0.0005 deg (unit) = -10200 : FFFFD828h (hexadecimal)
Example:
Error
Register Number Data (hex) Function
fbOut182 Command Response
bit0 : OFF: execution possible, ON: executing
fbOut183 FFEF Return Code
0: normal, FFEF: parameter error
NOTE:
This error occurs when there is no
specified point.