Specifications

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Target Position
The target positions are represented as follows.
Target position in the specified coordinate system
P[0] X-axis coordinate system (unit: mm)
P[1] Y-axis coordinate system (unit: mm)
P[2] Z-axis coordinate system (unit: mm)
P[3] Wrist angle TX (unit: ゜)
P[4] Wrist angle TY (unit: ゜)
P[5] Wrist angle TZ (unit: ゜)
P[6] 7th axis pulse number (mm for traveling axis)
P[7] 8th axis pulse number (mm for traveling axis)
P[8] 9th axis pulse number (mm for traveling axis)
P[9] 10th axis pulse number
P[10] 11th axis pulse number
P[11] 12th axis pulse number
＊Set “0” for data P[7] to P[11] if the system has no external axis.