Motoman NX 100 User Manual

5.2 Robot Control Function
5-9
<Example>
Command RPOSJ
Response 500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0
RPOSC
Reads the current position in a specified coordinate system. Whether there is an external axis
or not can be specified.
Command format : RPOSC Data-1, Data-2
Data-1 = Specification of coordinate system
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
25 : User coordinate 24
Data-2 = With or Without external axis
0 : Without external axis
1 : With external axis
Response format : Data-1, Data-2, )))), Data-14
Data-1 = X coordinate value (unit : mm, significant 3 decimal points)
Data-2 = Y coordinate value (unit : mm, significant 3 decimal points)
Data-3 = Z coordinate value (unit : mm, significant 3 decimal points)
Data-4 = Wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-5 = Wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-6 = Wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-7 = Type
Data-8 = Tool number (0 to 23)
Data-9 = Number of 7th axis pulses (for travel axis, mm)
Data-10 = Number of 8th axis pulses (for travel axis, mm)
Data-11 = Number of 9th axis pulses (for travel axis, mm
Data-12 = Number of 10th axis pulses
Data-13 = Number of 11th axis pulses
Data-14 = Number of 12th axis pulses
• Data-9 to Data-14 are added only when “With external axis” is specified.
• If the specified user coordinate system is undefined, an error occurs.
• The data of type is represented by the following bit data coded into a decimal number.

Motoman NX 100 Specifications

General

Brand	Motoman
Model	NX 100
Category	Controller
Language	English