Toshiba TS3100 - Page 132

STE 80722
– 127 –
COMMUNICATION MANUAL
series Robot Controller
(9) Current position information
Motion
status
Program
execution
Axis 1 current position
(integer part)
Axis 2 current
position
(integer part)
Axis 3 current
position
(integer part)
Axis 4 current
position
(integer part)
Axis 5 current
position
(integer part)
Axis 6 current
position
(integer part)
Axis 1 current position
(real number)
Axis 2 current position
(real number)
Axis 3 current position
(real number)
Axis 4 current position
(real number)
Axis 5 current position
(real number)
Axis 6 current position
(real number)
Axis 1 motor torque
current value
(real number)
Axis 2 motor torque
current value
(real number)
Axis 3 motor torque
current value
(real number)
Axis 4 motor torque
current value
(real number)
Axis 5 motor torque
current value
(real number)
Axis 6 motor torque
current value
(real number)
No. Name Size (byte) Description
1 Motion
status
1 (Fixed) 0: STOP (RESET)
1: RUN
2: STOP (RETRY)
3: STOP (CONTINUE)
2 Program
execution
line
number
- (Variable) Line number during program execution
3
to
8
Current
position
- (Variable) Joint coordinate value of axis 1 to axis 6
However, the decimal point is deleted and only
integer part is sent.