Specifications

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Current Position
The current position data are as follows when the joint coordinate system or Cartesian coordinate
system are specified.
Joint coordinate system Cartesian coordinate system
P[0] S-axis pulse number X-axis coordinate (unit: mm)
P[1] L-axis pulse number Y-axis coordinate (unit: mm)
P[2] U-axis pulse number Z-axis coordinate (unit: mm)
P[3] R-axis pulse number Wrist angle TX (unit: ゜)
P[4] B-axis pulse number Wrist angle TY (unit: ゜)
P[5] T-axis pulse number Wrist angle TZ (unit: ゜)
P[6] 7th axis pulse number 7th axis pulse number (mm for traveling axis)
P[7] 8th axis pulse number 8th axis pulse number (mm for traveling axis)
P[8] 9th axis pulse number 9th axis pulse number (mm for traveling axis)
P[9] 10th axis pulse number 10th axis pulse number
P[10] 11th axis pulse number 11th axis pulse number
P[11] 12th axis pulse number 12th axis pulse number