EasyManuals Logo

Motoman NX 100 User Manual

Motoman NX 100
116 pages
To Next Page IconTo Next Page
To Next Page IconTo Next Page
To Previous Page IconTo Previous Page
To Previous Page IconTo Previous Page
Page #75 background imageLoading...
Page #75 background image
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.

Table of Contents

Questions and Answers:

Question and Answer IconNeed help?

Do you have a question about the Motoman NX 100 and is the answer not in the manual?

Motoman NX 100 Specifications

General IconGeneral
BrandMotoman
ModelNX 100
CategoryController
LanguageEnglish

Related product manuals