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
(Example 2)
When setting the parameter as above, the manipulator’s present cartesian
position is output to the registers as follows
S1C1G Setting value
217 1
218 1
219 10
220 12
221 14
222 16
223 18
224 20
225 22
M010= Lower 2 bytes of the manipulator’s present cartesian position (FB value) X [unit: µmm]
M011= Upper 2 bytes of the manipulator’s present cartesian position (FB value) X [unit:
µmm]
M012= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Y [unit:
µmm]
M013= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Y [unit:
µmm]
M014= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Z [unit:
µmm]
M015= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Z [unit:
µmm]
M016= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Rx [unit: 0.001deg]
M017= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Rx [unit: 0.001deg]
M018= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Ry [unit: 0.001deg]
M019= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Ry [unit: 0.001deg]
M020= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Rz [unit: 0.001deg]
M021= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Rz [unit: 0.001deg]
M022= Lower 2 bytes of the manipulator’s present cartesian position (FB value) Re [unit: 0.001deg]
M023= Upper 2 bytes of the manipulator’s present cartesian position (FB value) Re [unit: 0.001deg]
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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