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7
8
9
10
11
12
13
Point file 10-7
3
Point file
3.2
One point
Read-out
3
Write
3
Format
Pmmmm
Meaning
• Expresses a specified point.
• "mmmm" represents a number from 0 to 29999.
DATA FORMAT
Pmmmm= fxxxxxx fyyyyyy fzzzzzz frrrrrr faaaaaa fbbbbbb t xr yr [cr/lf]
■
Values
mmmm ..................
f.............................
xxxxxx/../bbbbbb ...
t.............................
Point number: 0 to 29999
Coordinate sign: + / - / space
Represent a numeric value of 8 digits or less. When a dot is included,
this is treated as point data in "mm" units. Each piece of data is
separated by one or more spaces.
Extended hand system flag setting for SCARA robots.
1: RIGHT 2:LEFT
■
Hand system flags are valid only for SCARA robots, with the coordinate data specified in "mm" units.
■
If a number other than "1" or "2" is specified for a hand system flag, or if no number is specified,
this is interpreted as "0" setting (no hand system flag).
■
The first arm and the second arm rotation information is processed as "0" if a numeral other than 0,
1, -1 has been specified, or if no numeral has been specified.
■
A line containing only [cr/lf] is added at the end of the file, indicating the end of the file.
SAMPLE
SEND P100 TO CMU ················ Outputs the specified point from the
communication port.
Response:
RUN [cr/lf]
P100= 1.000 2.000 3.000 4.000 5.000 6.000 0 1 0 [cr/lf]
END [cr/lf]
NOTE
•
Integers indicate point
data in "pulse" units, and
real number s in "mm"
units.
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...