Janome JR3400 series - Page 93

External Control (I/O / Fieldbus) 92 DESKTOP ROBOT JR3000
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Acquire TCP Specified Tool Tip Position (Command Code 1012h)
This command transmits the TCP values and requests transmission of the 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 : OFFON: execute command
fbIn103 1012 Command Code
fbIn104 – fbIn105 fbIn104 : 07D0
fbIn105 : 0000
TCP-X, 0.001 mm units
Example: 2.000 mm (2000) : 7D0h*
fbIn106 – fbIn107 fbIn106 : 079E
fbIn107 : 0000
TCP-Y, 0.001 mm units
Example: 1.950 mm (1950) : 79Eh
fbIn108 – fbIn109 fbIn108 : 0000
fbIn109 : 0000
TCP-ΔZ, 0.001 mm units
Example: 0 mm
fbIn10A – fbIn10B fbIn10A : 0000
fbIn10B : 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
0: normal, FFEF: parameter error
fbOut184 – fbOut185 fbOut184 : 0FA0
fbOut185 : 0000
X coordinates, 0.0005 mm units
Example: 2.000 mm (4000) : FA0h
fbOut186 – fbOut187 fbOut186 : 0F3C
fbOut187 : 0000
Y coordinates, 0.0005 mm units
Examples: 1.950 mm (3900) : F3Ch
fbOut188 – fbOut189 fbOut188 : 0000
fbOut189 : 0000
Z coordinates, 0.0005 mm units
Examples: 0 mm
fbOut18A – fbOut18B fbOut18A : 0000
fbOut18B : 0000
R coordinates, 0.0005 deg units
Example: 0 deg