YASKAWA DX100 - Page 364

6 Convenient Functions
6.13 Present Manipulator Position Output Function
6-124
155507-1CD
RE-CSO-A037
DX100
(Example 1)
When setting the parameter as above, the manipulator’s present cartesian
position is output to the registers as follows.
S1C1G Setting value
208 1
209 0
210 10
211 11
212 12
213 13
214 14
215 15
216 16
M010 = Manipulator’s present cartesian position (command value) X [unit: mm]
M011 = Manipulator’s present cartesian position (command value) Y [unit: mm]
M012 = Manipulator’s present cartesian position (command value) Z [unit: mm]
M013 = Manipulator’s present cartesian position (command value) Rx [unit: deg]
M014 = Manipulator’s present cartesian position (command value) Ry [unit: deg]
M015 = Manipulator’s present cartesian position (command value) Rz [unit: deg]
M016 = Manipulator’s present cartesian position (command value) Re [unit: deg]
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