Specifications

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Form
The form data are represented by bit data in decimals.
０：Flip,
０：Elbow Above，
０：Front Side
０：Ｒ＜ １８０，
０：Ｔ＜１８０，
０：Ｓ＜ １８０，
Reserved
０：Previous Step
Ｄ
７
Ｄ
６
Ｄ
５
Ｄ
４
Ｄ
３
Ｄ
２
Ｄ
１
Ｄ
０
１：No-Flip
１：Elbow U nder
１：Back Side
１：Ｒ＞＝１８０
１：Ｔ＞＝１８０
１：Ｓ＞ ＝ １８０
１：Form
Consid e ra tion C onsid e ration
1) With the ERC or ERCⅡ, the data from D3 to D7 are disregarded.
2) With the MRC or MRCⅡ, the data D6 and D7 are disregarded.
Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area contains the number of values
indicated below.
Content Variable
Type
Number
Number of
values
P[0] P[1] P[2] P[3] P[4] P[5]
1 1 Byte
2 1 Integer - - - - -
3 1 Double - - - - -
4 1 Real - - - - -
5 6 S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses U-axis Pulses R-axis Pulses
6 6 X-axis
(mm)
Y-axis
(mm)
Z-axis
(mm)
Wrist angle Rx
(deg)
Wrist angle Ry
(deg)
Wrist angle Rz
(deg)
7
Base
Base
Axis-1 Pulses
Base
Axis-2 Pulses
Base
Axis-3 Pulses
Base
Axis-4 Pulses
6
Axis-5 Pulses
Base
Axis-6 Pulses
8 6
Base
Axis-1 (mm)
Base
Axis-2 (mm)
Base
Axis-3 (mm)
Base
Axis-4 (mm)
Base
Axis-5 (mm)
Base
Axis-6 (mm)
9 6 Station
Axis-1 Pulses
Station
Axis-2 Pulses
Station
Axis-3 Pulses
Station
Axis-4 Pulses
Station
Axis-5 Pulses
Station
Axis-6 Pulses
Content of the character variable storage area
Content
Variable Type
Number
Number of values
str
10
16 String
NOTE:
When this function is used to receive a string type variable make sure that
the character variable storage area is allocated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++: char S_Variable[17]