Motoman NX 100 User Manual

5.2 Robot Control Function
5-22
Response format : 0000 or Error code
<Example>
Command CTASK 1
Response 0000
" Start-up System Commands
START
Starts a job.
If a job name is specified for an operand, the relation between the job and the master job is
checked and the execution is started from the beginning of the job. If no job name is speci-
fied, the execution is started from the current line number of the set execution job.
Command format : START [Job-Name]
Job-Name = Starting job name (8 characters)
Can be omitted.
Response format : 0000 or Error code
<Example>
Command : START WORK-A
Response : 0000
MOVJ
Moves a manipulator to a specified coordinate position in joint motion.
Command format : MOVJ Data-1, Data-2, )))), Data-16
Data-1 = Motion speed (0.01 to 100.0%)
Data-2 = Coordinate specification
0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
25 : User coordinate 24
Data-3 = X coordinate value (unit : mm, significant 3 decimal points)
Data- 4 = Y coordinate value (unit : mm, significant 3 decimal points)
Data-5 = Z coordinate value (unit : mm, significant 3 decimal points)
Data-6 = Wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-7 = Wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-8 = Wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-9 = Type
Data-10 = Tool No. (0 to 23)
Data-11 = Number of 7th axis pulses (for travel axis, mm)

Motoman NX 100 Specifications

General

Brand	Motoman
Model	NX 100
Category	Controller
Language	English