Specifications

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P[3] - - - - U-axis pulse
number
3rd base axis pulse
number
3rd station axis
pulse number
P[4] - - - - R-axis pulse
number
4th base axis pulse
number
4th station axis
pulse number
P[5] - - - - B-axis pulse
number
5th base axis pulse
number
5th station axis
pulse number
P[6] - - - - T-axis pulse
number
6th base axis pulse
number
6th station axis
pulse number
P[7] - - - - Tool number Tool number Tool number
P[8] - - - - - - -
P[9] - - - - - - -
Robot axis position type Base axis position type
P[0] 1 1
P[1] Coordinate type Coordinate type
P[2] X-axis coordinate (unit: mm) 1st base axis XYZ value (unit: mm)
P[3] Y-axis coordinate (unit: mm) 2nd base axis XYZ value (unit: mm)
P[4] Z-axis coordinate (unit: mm) 3rd base axis XYZ value (unit: mm)
P[5] Tx (unit: ゜) 4th base axis XYZ value (unit: mm)
P[6] Ty (unit: ゜) 5th base axis XYZ value (unit: mm)
P[7] Tz (unit: ゜) 6th base axis XYZ value (unit: mm)
P[8] Form Form
P[9] Tool number Tool number
The robot axis position and base axis position type variables include the
pulse type and XYZ type, according to the first return value. The station axis
position type variable contains the pulse type only.
See the following for details on the coordinate system types and form.
Coordinate Types
The following coordinate names correspond to the coordinate type data.
Coordinate type Coordinate name Coordinate type Coordinate name
0 Base coordinate 14 User coordinate 13
1 Robot coordinate 15 User coordinate 14
2 User coordinate 1 16 User coordinate 15
3 User coordinate 2 17 User coordinate 16
4 User coordinate 3 18 User coordinate 17
5 User coordinate 4 19 User coordinate 18
6 User coordinate 5 20 User coordinate 19
7 User coordinate 6 21 User coordinate 20
8 User coordinate 7 22 User coordinate 21
9 User coordinate 8 23 User coordinate 22
10 User coordinate 9 24 User coordinate 23
11 User coordinate 10 25 User coordinate 24