Specifications

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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
12 User coordinate 11 26 Tool coordinate
13 User coordinate 12 27 Master tool coordinate
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
* With the MRC or MRCⅡ, the data of D6 and D7 are disregarded.