49
Axis DescriptionNameR/WAddress
Task 1
status
6020 R Executing program no.
If a program is being executed, the number of the
program will be output and if no program is being
executed, the number of the last program executed
will be output within a range of 0 to 999.
0000 0x10
2
x10
1
x10
0
L+1 L
6021 R Executing block no.
If a program is being executed, the block number of
the program will be output and if no program is being
executed, the block number of the last program
executed will be output within a range of 0 to 999.
0000 0x10
2
x10
1
x10
0
L+1 L
6022 R Teaching execution
address
Outputs the address where the position data is stored
at the time of teaching within a range of 0 to 1,999.
The address will be refreshed whenever teaching is
executed.
0000 x10
2
x10
1
x10
0
L+1 L
x10
3
Task 2
6024 R Executing program no.
Refer to the corresponding task 1 data.
status
6025 R Executing block no.
6026 R Teaching execution
address
Current
position
6050 R
Reference
coordinate system
current position
X
X-axis reference coordinate system current position
Y-axis reference coordinate system current position
x10
7
x10
6
x10
5
x10
4
x10
3
x10
2
x10
1
x10
0
L+1 L
3 2 1 0 bit
x10
7
Sign bit
0: Positive
1: Negative
x1
0
L+1 L
6051 R Y
Outputs the reference coordinate system current
position within a range of –39,999,999 to 39,999,999.
The minimum setting unit is set to 2 (for 0.01), the
display unit is set to 0 (for mm), and the reference
coordinate system current position is 3.99 mm (i.e.,
399 x 0.01) if the data is 399.
3 2 1 0 bit
x10
7
Sign bit
0: Positive
1: Negative
6054 R
Workpiece
coordinate system
current position
X
Outputs the workpiece coordinate system current
position.
There is no difference in data configuration, range, or
6055 R
unit between the work coordinate system current
position and reference coordinate system current
position.
Details of Data Transmission and Reception Units
Section 4-4
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