4.2.3. SW40-59 Relay– Reading the current robot pose in 16 bits
4.2.3. SW40-59 Relay– Reading the current robot pose in 16 bits
No. | Description | Others | |
| SW40 | Reading the robot pose in 16 bits (SW41~SW56) 0: null 1: Current base coordinate value (1mm or 0.1deg) 2: Command base coordinate value (1mm or 0.1deg) 3: Current axis coordinate value (0.1mm or 0.1deg) 4: Command axis coordinate value (0.1mm or 0.1deg) 5: Current axis coordinate value (1mm or 0.1deg) 6: Command axis coordinate value (1mm or 0.1deg) |
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SL21 | SW41 | X coordinate value or J1-axis value |
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SW42 | Y coordinate value or J2-axis value |
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SL22 | SW43 | Z coordinate value or J3-axis value |
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SW44 | RX coordinate value or J4-axis value |
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SL23 | SW45 | RY coordinate value or J5-axis value |
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SW46 | RZ coordinate value or J6-axis value |
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SL24 | SW47 ~52 | T1~T6-axis value |
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