Omron SCARA YRCX Series, Programming Manual, Page: 369 / 506

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Machine reference file 10-37
16
Machine reference file
16.1 Machine reference (axes: sensor method, stroke-end method)
Read-out
3
Write
-
Format
MRF
Meaning • Expresses all machine reference values of axes whose return-to-origin method is set
as "Sensor" or "Stroke-end".
DATA FORMAT
RnA=mmm,mmm,mmm,mmm,mmm,mmm [cr/lf]
:
RnA= mmm,mmm,mmm,mmm,mmm,mmm [cr/lf]
[cr/lf]
Values n ............................................ Robot number: 1 to 4
mmm .....................................Machine reference value: 0 to 100
This file reads out the machine reference values of the axes set to the robots.
Example: When the 1st through 6th axes of the robot 1 and 1st and 3rd axes of the robot 2 are
connected, the data is shown as follows.
R1A = mmm, mmm, mmm, mmm, mmm, mmm
R2A = mmm, mmm
■
A line containing only [cr/lf] is added at the end of the file, indicating the end of the file.
SAMPLE
SEND MRF TO CMU ················· Outputs all machine reference data
from the communication port.
Response:
RUN[cr/lf]
R1A=53,47,58,25,55,59 [cr/lf]
:
R4A=52,58,41,38,61,50 [cr/lf]
[cr/lf]
END[cr/lf]
MEMO