4.2.4. SW40-59 Relay– Reading the current robot pose in 32 bits
4.2.4. SW40-59 Relay– Reading the current robot pose in 32 bits
No. | Description | Others | |
| SW40 | Reading the robot pose in 32 bits (SL21~SL29) 0:null … 10: Current base coordinate value + additional axis 3 20: Command base coordinate value + additional axis 3 1m: Current axis coordinate value (m axis ~ m+8 axis) 2m: Command axis coordinate value (m axis ~ m+8axis) | (0.001mm or 0.001deg) Supported since Hi5a V40.25-00 |
SL21 | SW41 | X coordinate value Jm+0 axis value |
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SW42 |
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SL22 | SW43 | Y coordinate value Jm+1 axis value |
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SW44 |
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SL23 | SW45 | Z coordinate value Jm+2 axis value |
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SW46 |
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SL24 | SW47 | RX coordinate value Jm+3 axis value |
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SW48 |
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SL25 | SW49 | RY coordinate value Jm+4 axis value |
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SW50 |
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SL26 | SW51 | RZ coordinate value Jm+5 axis value |
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SW52 |
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SL27 | SW53 | T1 coordinate value Jm+6 axis value |
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SW54 |
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SL28 | SW55 | T2 coordinate value Jm+7 axis value |
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SW56 |
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SL29 | SW57 | T3 coordinate value Jm+8 axis value |
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SW58 | ~~ ~~ | ||