SIASUN GCR Series, Руководство пользователя

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57
81 robot standby R
82 robot running program R
83
robot stopped R
84
robot paused R
85
current program finished R
86
robot alert R
87
manual mode R
88 automatic mode R
89 robot at origin R
90
emergency stopped R
91
robot power on(rising edge) W
92
robot power off(rising edge) W
93
robot shutting down
(disconnected, rising edge)
W
94
run loading program(rising edge) W
95
pause program(rising edge) W
96
continue run program(rising edge) W
97
stop program(rising edge) W
98 reduce speed(rising edge) W
99 reset error(rising edge) W
100
reserved /
101-200 analog IO R/W
Register IN: read (number 3)
Address Node Introduction
201 Joint 1 position
，
low 16 bits
202 Joint 1 position
，
high 16 bits
203 Joint 2 position
，
low 16 bits
204 Joint 2 position
，
high 16 bits
205 Joint 3 position
，
low 16 bits
206 Joint 3 position
，
high 16 bits
207 Joint 4 position
，
low 16 bits
208 Joint 4 position
，
high 16 bits
209 Joint 5 position
，
low 16 bits
210 Joint 5 position
，
high 16 bits
211 Joint 6 position
，
low 16 bits
212 Joint 6 position
，
high 16 bits
213 reserved
214 reserved
215 x position (base)
，
low 16 bits
216 x position (base)
，
high 16 bits