5.2 Robot Control Function
5-7
*1 “.” if not being held ; “H” if being held
*2 “MOVE” if the manipulator is moving by operation other than command ; “.” if the
manipulator is moving by command since a single command can be accepted.
*3 “.” during an alarm ; “A” during error
5.2.3 Command that Handle Axis Data
The data transmission function of the NX100 has restrictions on handling control axis data.
Since the manipulator axes are fixed to a six-axis set, any manipulator having more than
seven axes cannot use the following commands.
A base axis and a station axis are recognized as an external axis. Up to three base axes can
be used. With station axis data added to the base axis data, up to six axes can be handled.
This applies to the following commands.
RPOSJ, RPOSC, RUFRAME
MOVJ, MOVL, IMOV, PMOVJ, PMOVL, WUFRAME
5.2.4 Response to MOV-type Command
The responses to MOV-type command are as follows.
• If the manipulator is moving by operations other than commands, the interpreter message
2010 (manipulator moving) is returned and the manipulator does not move.
• If the
manipulator is in stop status, it turns ON the start lamp and moves according to the
command, and returns a response immediately.
• If the manipulator is moving according to the previous commands, only a single command
is accepted and the response is held up. After completing execution of the preceding
commands, when starting execution of the suspended command, the manipulator returns
a response.
This applied to the following commands.
MOVJ, MOVL, IMOV, PMOVJ, PMOVL
<Interpreter message>
. : Possible to execute
A : Alarm/error occurring
2060
M : Incorrect mode
2080
H : Hold
2020 to 2050
MOVE : Manipulator moving
2010
C : No command remote setting
2100
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