YASKAWA DX100 Operator's Manual

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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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