Janome JR3400 series - Page 91

External Control (I/O / Fieldbus) 90 DESKTOP ROBOT JR3000
Example:
Normal
Register Number Data (hex) Function
fbOut182 Command Response
bit0 : OFF: execution possible, ON: executing
fbOut183 0000 Return Code
0 : normal, FFEF : parameter error
NOTE:
This error occurs when there is no
specified program or tool data.
■
Acquire Current Position Coordinates (Command Code 1010h)
This requests transmission of the robot’s current position coordinates.
The robot returns the current positions (X coordinate, Y coordinate, Z coordinate and R
coordinate values) in response to this request.
Register Number Data (hex) Function
fbIn102 Command Instruction
bit0 : OFFON: execute command
fbIn103 1010 Command Code
Example:
Normal
Register Number Data (hex) Function
fbOut182 Command Response
bit0 : OFF: execution possible, ON: executing
fbOut183 0000 Return Code
0: normal, FFEF: parameter error
fbOut184 – fbOut185 fbOut184 : 6072
fbOut185 : 0000
X coordinates, 0.0005 mm units
Example: 12.345 mm (24690) : 6072h*
1
fbOut186 – fbOut187 fbOut186 : 1A80
fbOut187 : 0006
Y coordinates, 0.0005 mm units
Example: 200.000 mm (400000) : 61A80h
fbOut188 – fbOut189 fbOut188 : 6378
fbOut189 : 0001
Z coordinates, 0.0005 mm units
Example: 45.500 mm (91000) : 16378h
fbOut18A – fbOut18B fbOut18A : D828
fbOut18B : FFFF
R coordinates, 0.0005 deg units
Example: -5.100 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:
-5.100 deg (coordinates) / 0.0005 deg (unit) = -10200 : FFFFD828h (hexadecimal)