External Control (I/O / Fieldbus) 91 DESKTOP ROBOT JR3000
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Acquire Tool Tip Position (Command Code 1011h)
This requests transmission of the robot’s current tool tip position.
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 : OFFON: execute command
fbIn103 1011 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 : 7C3E
fbOut185 : 0004
X coordinates, 0.0005 mm units
Example: 146.975 mm (293950) : 47C3Eh*
fbOut186 – fbOut187 fbOut186 : A3B8
fbOut187 : 0007
Y coordinates, 0.0005 mm units
Example: 250.332 mm (500664) : 7A3B8h
fbOut188 – fbOut189 fbOut188 : 0000
fbOut189 : 0000
Z coordinates, 0.0005 mm units
Example: 0 mm
fbOut18A – fbOut18B fbOut18A : 0000
fbOut18B : 0000
R coordinates, 0.0005 deg units
Example: 0 deg
The conversion expression from the coordinate to the value in parentheses ( ) is as follows:
*
146.975 [mm] (coordinates) / 0.0005 [mm] (unit) = 293950 : 47C3Eh (hexadecimal)
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