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10-18 Chapter 10 Data file description
8
Hand definition file
8.1
All hand data
Read-out
3
When used as a read-out file, all hand data currently stored are read out.
Write
3
When used as a write file, writing is performed with a hand number.
Format
HND
Meaning
• Expresses all hand data.
DATA FORMAT
Hm = n,fxxxxxx, fyyyyyy, fzzzzzz ,{R}[cr/lf]
:
Hm = n,fxxxxxx, fyyyyyy, fzzzzzz ,{R}[cr/lf]
[cr/lf]
Values
m ........................................... Hand number: 0 to 31
n ............................................ Robot number: 1 to 4
f .............................................Coordinate sign: + / - / space
xxxxxx/yyyyyy/zzzzzz ............ Represent a real numeric value of 7 digits or less,
having 3 or less places below the decimal point, or an
integer of 7 digits or less. (This numeric format depends
on the robot type setting and hand definition type.)
{R} ..........................................Indicates whether a hand is attached to the R-axis.
■
A line containing only [cr/lf] is added at the end of the file, indicating the end of the file.
SAMPLE
SEND HND TO CMU ················· O u t p u t s a l l h a n d d a t a f r o m t h e
communication port.
Response:
RUN [cr/lf]
H0 = 1, 0.000, 0.000, 0.000 [cr/lf]
H1 = 1, 1.000, 1.000, 1.000 [cr/lf]
H2 = 2, 2.000, 2.000, 2.000 [cr/lf]
H3 = 2, 3.000, 3.000, 3.000 [cr/lf]
H4 = 3, 4.000, 4.000, 4.000 [cr/lf]
H5 = 3, 5.000, 5.000, 5.000 [cr/lf]
H6 = 4, 6.000, 6.000, 6.000 [cr/lf]
H7 = 4, 7.000, 7.000, 7.000 [cr/lf]
[cr/lf]
END [cr/lf]
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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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 497: ...Index ...
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Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...