Toshiba TS3100 - Page 89

STE 80722
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COMMUNICATION MANUAL
series Robot Controller
: Individual current position information acquisition (Host computer → Controller)
PR
Format
PR, coordinate system
CR
Description
The PR command is used to transfer the current position information for the
specified coordinate system to the host computer.
For details on the contents of the current position information for the specified
coordinate system, see the FL (File) command.
Specify one of the following numbers for the coordinate system.
0: Joint coordinate
1: World coordinate
2: Work coordinate
3: Joint feedback coordinate
4: World feedback coordinate
5: Work feedback coordinate
Protocol
Controller Host computer
(1) Normal response
FL, current position information
(2) Error (Cannot receive request)
NG
CR
Negative response
PR, coordinate system
CR
OK
CR
Affirmative response
Note
Put in a delay of about 50 msec until the host computer sends an affirmative
response OK to the controller after the host computer has received the file contents.