Toshiba TS3100 - Page 164

STE 80722
– 159 –
COMMUNICATION MANUAL
series Robot Controller
[1] Positional data
POINT <Position name>=<X>,<Y>,<Z>,C>,<T>/<configuration>
<Position name> : Name of positional data
<X>
<Y> : Coordinate values of X, Y, and Z (unit: mm)
<Z>
<C> : Rotating angle of tool end
(unit: deg)
<T> : Data of axis 5
<Configuration> : Configuration of the robot arm that rotates in
horizontal direction
Omitted .........Undefined
LEFTY .......... Left shoulder
RIGHTY .......... Right shoulder
When the values of X, Y, Z, C, and T are omitted, they are treated as 0.
[2] Coordinate data
TRANS <Coordinate name>=<X>,<Y>,<Z>,<C>
<Coordinate name> : Name of coordinate data
<X>
<Y> :
<Z>
<C> : Rotating angle about Z axis (unit: deg)
When the values of X, Y, Z, and C are omitted, they are treated as 0.
Coordinate values in directions of
axes X, Y, and Z (unit: mm)