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NX 100
Motoman NX 100 User Manual
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5.2 Robot Contro
l Function
5-34
DA
T
A-4
Response format (at normal completion) : 0000
Response format (at abnormal completion) :
Number with 4 digit
s other than 0000
Number smaller than 1000, 0 is a
dded before the
number
.
<Example>
When status of
3 points is changed from 2
2010
Command 22010, 3, 4, 3, 12
Response 0000
99
101
Table of Contents
Default Chapter
17
Table of Contents
17
1 1 Outline
18
Stand-Alone Function
18
Host Control Function
24
2 For Using Data Transmission Function
26
Remote Mode
26
Command Remote Valid/Invalid
28
Display in Command Remote Mode
28
Serial I/F Port Assignment
29
Parallel Operation of NX100
31
No Multiple-Operation of DCI, Stand-Alone, and Host Control
31
Functions
31
File Access and Editing for a Single Target
31
Differences from MRC/XRC
32
Multiport Processing
32
Group Axes
32
Coordinated Operation and Independent Operation
32
Condition Data and System Data
32
Transmission Specifications
33
Basic Specifications
33
Transmission Format
34
Error Control System
35
Character Configuration
35
Data Link Establishment
35
Configuration of Heading and Text
36
Transmission Parameters
36
Transmission Control Monitoring Timer
36
Transmission Control Resending Sequence
37
Connection of D-SUB Connector Pins
38
Connection
38
601 DCI Function
39
Outline
39
Commands for Job Transmission
39
Loadj
39
Function
39
Configuration
40
Savej
41
Function
41
Configuration
41
Deletej
41
Swait
42
Function
42
Configuration
42
Commands for Variable Transmission
42
Loadv
42
Savev
42
Registering DCI Instruction
43
Concurrent Tasks from Multiple Jobs
45
DCI Parallel Execution
46
Parallel Execution Using NWAIT
46
Parallel Execution Using PSTART (Optional)
47
Transmission Procedure
47
Job Transmission
47
Saving Procedure
47
Loading Procedure
48
Variable Transmission
50
Saving Procedure
50
Loading Procedure
50
Axis Data Transmission Format
52
Alarm Codes
53
Outline
55
Operation Flow
56
Selecting External Memory Unit
57
Operation
57
Save
58
Saving Job
58
Saving File
60
Load
62
Loading Job
62
Loading File
63
Job Selection Mode
64
Single Selection Mode
64
Related Selection Mode
64
Switching Selection Mode
65
Selecting Job and Data File
66
EACH Selection
66
BATCH Selection
66
Transmission Procedure
66
5 Host Control Function
67
File Data Transmission Function
67
Transmission Procedure
67
Load
67
Save
68
Data Management
69
Robot Control Function
70
Command Transmission
70
List of Interlock for Commands of Host Control Function
71
Command that Handle Axis Data
73
Response to MOV-Type Command
73
Status Read Function
74
Read/Monitor Command
74
Read/Data Access System Commands
79
System Control Function
83
Operation System Commands
83
Start-Up System Commands
88
Editing System Commands
92
Job Selection System Commands
96
I/O Read/Write Function
97
Transmission Procedure
98
Read-Out of I/O Signal Status
98
Write-In of I/O Signal Status
99
Commands for Multi-Control Group and Independent Control Functions
101
Commands for Multi-Control Group
101
Commands for Independent Control Function
102
Alarm Codes
103
Interpreter Message List
104
Parameter List
110
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Motoman NX 100 Specifications
General
Brand
Motoman
Model
NX 100
Category
Controller
Language
English
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