YASKAWA DX100 Operator's Manual

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155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.13 Present Manipulator Position Output Function
6.13 Present Manipulator Position Output Function
6.13.1 Outline
Output the present manipulator’s cartesian position (base coordinate) to
the specified register.
6.13.2 Parameters
The following parameters specify the function and output register number.
S1CxG Meaning
208 Specify a function which outputs a specified value of the present cartesian position
(base coordinate) to the register
0: invalid
1: Valid
209 Specify the output size to the register
0: 2 bytes output
1: 4 bytes output
210 Cartesian position (command value) X register number of output destination
211 Cartesian position (command value) Y register number of output destination
212 Cartesian position (command value) Z register number of output destination
213 Cartesian position (command value) Rx register number of output destination
214 Cartesian position (command value) Ry register number of output destination
215 Cartesian position (command value) Rz register number of output destination
216 Cartesian position (command value) Re register number of output destination
217 Specify a function which outputs a FB value of the present cartesian position (base
coordinate) to the register
0: invalid
1: Valid
218 Specify the output size to the register
0: 2 bytes output
1: 4 bytes output
219 Cartesian position (FB value) X register number of output destination
220 Cartesian position (FB value) Y register number of output destination
221 Cartesian position (FB value) Z register number of output destination
222 Cartesian position (FB value) Rx register number of output destination
223 Cartesian position (FB value) Ry register number of output destination
224 Cartesian position (FB value) Rz register number of output destination
224 Cartesian position (FB value) Re register number of output destination
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C