5.2 Robot Control Function
5-14
Response format : Name-1, Name-2, )))), Name-N or Error code
Name-1 = Job name-1 (8 characters)
Name-2 = Job name-2 (8 characters)
Name-N = Job name-N (8 characters)
<Example>
Command RJDIR MASTER-1
Response WORK-A, WORK-B, SAMPLE-1
RUFRAME
Reads a specified user coordinate data.
Command format : RUFRAME Data-1
Data-1 = User coordinate No.
0 : Reserved
1 : Reserved
2 : User coordinate 1
25 : User coordinate 24
Response format : Data-1, Data-2, )))) Data-28
Data-1 = ORG X coordinate value (unit : mm, significant 3 decimal points)
Data-2 = ORG Y coordinate value (unit : mm, significant 3 decimal points)
Data-3 = ORG Z coordinate value (unit : mm, significant 3 decimal points)
Data-4 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-5 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-6 = ORG wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-7 = ORG type
Data-8 = XX X coordinate value (unit : mm, significant 3 decimal points)
Data-9 = XX Y coordinate value (unit : mm, significant 3 decimal points)
Data-10 = XX Z coordinate value (unit : mm, significant 3 decimal points)
Data-11 = XX wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-12 = XX wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-13 = XX wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-14 = XX type
Data-15 = XY X coordinate value (unit : mm, significant 3 decimal points)
Data-16 = XY Y coordinate value (unit : mm, significant 3 decimal points)
Data-17 = XY Z coordinate value (unit : mm, significant 3 decimal points)
Data-18 = XY wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-19 = XY wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-20 = XY wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-21 = XY type
Data-22 = Tool No. (0 to 23)
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