Specifications

54/201
Variable type
Coordinate values of the user coordinate system specified with the user coordinate number are assigned to the
user coordinate data as follows.
Variables Coordinate System Meani ng
P[ 0] ＯＲＧ X-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 1]
Y-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 2]
Z-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 3] Wrist angle TX (unit:°, effective down to 2 decimal pl aces)
P[ 4] Wrist angle TY (unit:°, effective down to 2 decimal pl aces)
P[ 5]
Wrist angle TZ (unit:°, effective down to 2 decimal pl aces)
P[ 6]
Form
P[ 7] ＸＸ X-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 8] Y-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 9]
Z-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 10]
Wrist angle TX (unit:°, effective down to 2 decimal pl aces)
P[ 11] Wrist angle TY (unit:°, effective down to 2 decimal pl aces)
P[ 12] Wrist angle TZ (unit:°, effective down to 2 decimal pl aces)
P[ 13]
Form
P[ 14] ＸＹ
X-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 15] Y-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 16] Z-axis coordinate (unit: mm, effective down to 3 decimal pl aces)
P[ 17]
Wrist angle TX (unit:°, effective down to 2 decimal pl aces)
P[ 18] Wrist angle TY (unit:°, effective down to 2 decimal pl aces)
P[ 19] Wrist angle TZ (unit:°, effective down to 2 decimal pl aces)
P[ 20]
Form
P[ 21]
Tool numbe r ( 0 t o 23)
P[ 22] 7th axis pulse number ( mm for traveling axis)
P[ 23] 8th axis pulse number ( mm for traveling axis)
P[ 24]
9th axis pulse number ( mm for traveling axis)
P[ 25]
10th axis pulse number
P[ 26] 11th axis pulse number
P[ 27] 12t h axi s
p
ul se number
Form
The form data are represented by bit data in decimals.
D
7
D
6
D5 D
4
D3 D
2
D1 D
0
0: Fl i
p
, 1:No-fli
p
0: U
p
, 1:Dow
n
0: Fr ont , 1: Rear
0: R<180, 1: R>=18
0
0: T<180, 1: T>=18
0
0: S<180, 1: S>=18
0
* With the ERC or ERCⅡ, the data of D3, D4 and D5 are ignored.