第1页 / 共292页
第2页 / 共292页
第3页 / 共292页
第4页 / 共292页
第5页 / 共292页
第6页 / 共292页
第7页 / 共292页
第8页 / 共292页
YRC1000MICRO高速以太网.pdf
1 Outline
1.1 Outline
1.2 Command Remote Setting for YRC1000
1.2.1 Remote Mode and Local Mode
1.2.2 Switching the Function by Command Remote Setting
1.2.3 Command Remote Setting Method
1.2.4 Command Remote State Displayed Window
1.3 Ethernet Cable Connections
1.4 Notes When Loading the Data
2 LAN Interface Setting and Network Communication Confirmation
2.1 LAN Interface Setting
2.1.1 Setting procedure
2.1.2 LAN Interface Setting Item
2.1.2.1 Host Setting
2.1.2.2 Setting the Domain
2.1.2.3 IP Address (LAN2)
2.1.2.4 IP Address (LAN3)
2.1.2.5 Default Gateway
2.1.2.6 Static Route (LAN2)
2.1.2.7 Static Route (LAN3)
2.1.2.8 DNS Setting
2.1.2.9 SNTP Setting
2.2 Daylight Saving Time Setting
2.3 LAN Interface Setting Confirmation
2.3.1 LAN Interface Setting Confirmation Method
2.3.2 Information Displayed on the Network Service Window
2.3.2.1 Host Setting
2.3.2.2 Domain Setting
2.3.2.3 IP Address (LAN2)
2.3.2.4 IP ADDRESS (LAN3)
2.3.2.5 Default Gateway
2.3.2.6 Static Route (LAN2)
2.3.2.7 Static Route (LAN3)
2.3.2.8 DNS Setting
2.3.2.9 SNTP Setting
2.4 Network Communication Confirmation
2.4.1 Network Communication Confirmation from Windows PC
2.4.2 Network Communication Confirmation from the YRC1000
3 High-Speed Ethernet Server Function
3.1 Outline
3.1.1 System Configuration
3.1.2 Communication Target
3.1.3 Restriction
3.2 Setting
3.2.1 Basic Setting
3.2.2 Batch Data Back-up Function Setting
3.2.3 Command Remote Setting
3.3 Communication Method
3.3.1 Packet Format
3.3.2 Transmission Procedure
3.3.2.1 Robot Control/Status Reading
3.3.2.2 Robot Control/Data Writing to Register
3.3.2.3 File Control (File Saving)
3.3.2.4 File Control (File Loading)
3.3.2.5 File Control (File List)
3.3.2.6 File Control (Deleting of file)
3.3.3 Robot Control Command
3.3.3.1 Alarm Data Reading Command
3.3.3.2 Alarm History Reading Command
3.3.3.3 Status Information Reading Command
3.3.3.4 Executing Job Information Reading Command
3.3.3.5 Axis Configuration Information Reading Command
3.3.3.6 Robot Position Data Reading Command
3.3.3.7 Position Error Reading Command
3.3.3.8 Torque Data Reading Data
3.3.3.9 I/O Data Reading / Writing Command
3.3.3.10 Register Data Reading / Writing Command
3.3.3.11 Byte Variable (B) Reading / Writing Command
3.3.3.12 Integer Type Variable (I) Reading / Writing Command
3.3.3.13 Double Precision Integer Type Variable (D) Reading / Writing Command
3.3.3.14 Real Type Variable (R) Reading / Writing Command
3.3.3.15 16 Byte Character Type Variable (S) Reading Writing Command
3.3.3.16 Robot Position Type Variable (P) Reading / Writing Command
3.3.3.17 Base Position Type Variable (BP) Reading / Writing Command
3.3.3.18 External Axis Type Variable (EX) Reading / Writing Command
3.3.3.19 Alarm Reset / Error Cancel Command
3.3.3.20 Hold / Servo On/off Command
3.3.3.21 Step / Cycle / Auto Switching Command
3.3.3.22 Character String Display Command To The Programming Pendant
3.3.3.23 Start-up (Job Start) Command
3.3.3.24 Job Select Command
3.3.3.25 Management Time Acquiring Command
3.3.3.26 System Information Acquiring Command
3.3.3.27 Plural I/O Data Reading / Writing Command
3.3.3.28 Plural Register Data Reading / Writing Command
3.3.3.29 Plural Byte Type Variable (B) Reading / Writing Command
3.3.3.30 Plural Integer Type Variable (I) Reading / Writing Command
3.3.3.31 Plural Double Precision Integer Type Variable (D) Reading / Writing Command
3.3.3.32 Plural Real Type Variable (R) Reading / Writing Command
3.3.3.33 Plural 16 Byte Character Type Variable (S) Reading / Writing Command
3.3.3.34 Plural Robot Position Type Variable (P) Reading / Writing Command
3.3.3.35 Plural Base Position Type Variable (BP) Reading / Writing Command
3.3.3.36 Plural Station Type Variable (EX) Reading / Writing Command
3.3.3.37 Alarm Data Reading Command (for Applying the Sub Code Character String)
3.3.3.38 Alarm History Reading Command (for Applying the Sub Code Character String)
3.3.3.39 Move instruction command (Type Cartesian Coordinate)
3.3.3.40 Move Instruction Command (Type Pulse)
3.3.3.41 32 Byte Character Type Variable (S) Reading Writing Command
3.3.3.42 Plural 32 Byte Character Type Variable (S) Reading / Writing Command
3.3.4 File Control Command
3.3.4.1 File Deleting Command
3.3.4.2 File Loading Command
3.3.4.3 File Saving Command
3.3.4.4 File List Acquiring Command
3.3.4.5 File Saving Command (Batch Data Backup)
3.4 Response Code
3.4.1 Status Code
3.4.2 Added Status Code
3.5 Troubleshooting
3.5.1 Network Communication Confirmation
3.5.2 Communication Setting Confirmation for Firewall and Security Software
3.5.3 Error Log Confirmation of High-speed Ethernet Server Communication
4 FTP Server Function
4.1 Outline
4.1.1 System Configuration
4.1.2 Communication Target
4.1.3 Function Mode
4.1.4 CMOS Saving Function via FTP
4.1.5 Restriction
4.2 Setting
4.2.1 Enabling Setting for the FTP Function
4.2.2 Enabling the CMOS Saving Function via FTP
4.2.3 Command Remote Setting
4.3 Specification
4.3.1 Account
4.4 Communication Method
4.4.1 Example of Communication Procedure in Normal Operation Mode (When Using the Windows 7 Command Prompt)
4.4.2 Example of Communication Procedure in Expand Mode (When Using FileZilla)
4.4.3 Saving CMOS Data by Using CMOS Saving Function via FTP
4.5 Troubleshooting
4.5.1 Network Communication Confirmation
4.5.2 Confirming the Communication Setting for Firewall and Security Software
4.5.3 Confirming the Function Mode
5 DCI Function
5.1 Outline
5.1.1 System Configuration
5.1.2 Communication Target
5.2 Setting
5.2.1 Communication Target Setting
5.2.2 Command Remote OFF Setting
5.3 Preparation at the YRC1000 Side
5.3.1 Command for Job Transmission
5.3.1.1 LOADJ
5.3.1.2 SAVEJ
5.3.1.3 DELETEJ
5.3.1.4 SWAIT
5.3.2 Command for Variable Transmission
5.3.2.1 LOADV
5.3.2.2 SAVEV
5.3.3 Registering DCI Command
5.3.4 Concurrent Task from Multiple Job
5.3.5 DCI Parallel Execution
5.3.5.1 Parallel Execution Using NWAIT
5.3.5.2 Parallel Execution Using PSTART (Optional)
5.3.6 Axis Data Transmission Format
5.4 Preparation at the PC Side
5.5 Executing the DCI Function
5.6 Alarm Code
5.7 Troubleshooting
5.7.1 Network Communication Confirmation
5.7.2 Communication Setting Confirmation for Firewall and Security Software
5.7.3 Confirming the Operation of the PC-side Application
5.7.4 Confirming That the Remote Setting is OFF
6 FTP Client Function
6.1 Outline
6.1.1 System Configuration
6.1.2 Communication Target
6.1.3 Restriction
6.2 Preparation at the PC Side
6.3 YRC1000-side Setting and Operation
6.3.1 Enabling Setting for the FTP Function
6.3.2 Setting for the FTP Connection Condition
6.3.3 Selecting the FTP Function
6.3.4 Save
6.3.4.1 Saving a Job
6.3.4.2 Saving Files Except for Job
6.3.5 Load
6.3.5.1 Loading a Job
6.3.5.2 Loading File Except for Job
6.3.6 Verification
6.3.6.1 Verifying a Job
6.3.6.2 Verifying File Except for Job
6.3.7 Selecting Job and Data File
6.4 Troubleshooting
6.4.1 Network Communication Confirmation
6.4.2 Communication Setting Confirmation for Firewall and Security Software
6.4.3 Confirming the FTP Server Operation
6.4.4 Confirming That the Remote Setting is OFF
7 Internal Data Browsing Function by Using a Web Browser
7.1 Outline
7.1.1 System Configuration
7.1.2 Communication Target
7.1.3 Restriction
7.2 Setting Method
7.2.1 Function Setting
7.2.2 Command Remote Setting
7.3 Transmission Procedure Example
7.4 Troubleshooting
7.4.1 Network Communication Confirmation
7.4.2 Communication Setting Confirmation for Firewall and Security Software
8 Ethernet Server Function
8.1 Outline
8.1.1 System Configuration
8.1.2 Communication Target
8.1.3 General Information for When Using the Ethernet Server Function
8.1.4 Restriction
8.2 Setting
8.2.1 Function Setting
8.2.2 Command Remote Setting
8.3 Communication Method
8.3.1 Transmission procedure
8.3.1.1 Socket Connection
8.3.1.2 START Request
8.3.1.3 Response to START Request
8.3.1.4 Command
8.3.1.5 Response to Command
8.3.1.6 Command Data
8.3.1.7 Answer
8.3.1.8 Closing of a Socket
8.3.2 Command Detail
8.3.2.1 Status Read Function
8.3.2.2 System Control Function
8.3.2.3 I/O Read/Write Function
8.3.3 Transmission Example
8.3.3.1 Read-Out of Status for Mode, Cycle, etc
8.3.3.2 Read-Out of I/O Signals for the YRC1000
8.3.3.3 Write-In of I/O Signals for the YRC1000
8.3.3.4 Continuous Execution of Multiple Command
8.4 Troubleshooting
8.4.1 Network Communication Confirmation
8.4.2 Communication Setting Confirmation for Firewall and Security Software
8.4.3 Confirming the connection of the Ethernet Server Function
9 Host Control Function
9.1 Outline
9.1.1 System Configuration
9.1.2 Communication Target
9.1.3 General Information When Using the Host Control Function
9.1.4 Restriction
9.2 Setting
9.2.1 Command Remote Setting
9.3 Transmission Procedure
9.3.1 File Data Transmission Function
9.3.2 Manipulator Control Function
9.4 Troubleshooting
9.4.1 Network Communication Confirmation
9.4.2 Communication Setting Confirmation of Firewall and Security Software
10 Standalone Function
10.1 Outline
10.1.1 System Configuration
10.1.2 Communication Target
10.2 Setting
10.2.1 Communication Target Setting
10.2.2 Command Remote to OFF Setting
10.3 Preparation at the PC Side
10.4 Executing the Standalone Function
10.4.1 Selecting the Standalone Function
10.4.2 Save
10.4.2.1 Save Job
10.4.2.2 Save a File Other Than Job
10.4.3 Load
10.4.3.1 Load the Job
10.4.3.2 Load a File Other Than Job
10.4.4 Verification
10.4.4.1 Verifying the Job
10.4.4.2 Verifying the File Other Than the Job
10.4.5 Selection Mode of the Job
10.4.5.1 Single Selection Mode
10.4.5.2 Related Selection Mode
10.4.5.3 Switching the Selection Mode
10.4.6 Selecting a Job or Data File
10.4.6.1 Individual Selection
10.4.6.2 SELECT ALL
10.5 Troubleshooting
10.5.1 Network Communication Confirmation
10.5.2 Communication Setting Confirmation for Firewall and Security Software
10.5.3 Confirming the Operation of the PC-side Application
10.5.4 Confirming That the Remote Setting is OFF
11 Related Information
11.1 General Information About the Host Control System Function
11.1.1 List of Interlock for Command of Host Control Function
11.1.2 Command that Handle Axis Data
11.1.3 Response to MOV-type Command
11.1.4 Command for Multi-control Group and Independent Control Function
11.1.4.1 Command for Multi-control Group
11.1.4.2 Command for Independent Control Function
11.1.5 Interpreter Message
11.1.6 Alarm Code
11.2 Related Parameter
11.3 Communication Specification
11.4 Recommended Cable and Switching Hub
YRC1000 OPTIONS
INSTRUCTIONS
FOR ETHERNET FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.
178942-1CD
2
MANUAL NO.
HW1483358 2
1/292
HW1483358
DANGER
• This manual explains the Ethernet function of the YRC1000 system.
Read this manual carefully and be sure to understand its contents
before handling the YRC1000. Any matter, including operation,
usage, measures, and an item to use, not described in this manual
must be regarded as "prohibited" or "improper".
• General information related to safety are described in "Chapter 1.
Safety" of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read "Chapter 1. Safety" of the YRC1000
INSTRUCTIONS.
CAUTION
•
In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
•
ii
HW1483358
2/292
HW1483358
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
DANGER
WARNING
CAUTION
NOTICE
Indicates an imminently hazardous
situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous
situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,
which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word
to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in
some situations.
At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as “DAN-
GER”, “WARNING” and “CAUTION".
iii
HW1483358
3/292
HW1483358
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the
obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching
operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
HW1483358
4/292
HW1483358
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows.
Equipment
YRC1000 controller
YRC1000 programming pendant
Cable between the manipulator and the
controller
Manual Designation
YRC1000
Programming pendant
Manipulator cable
v
HW1483358
5/292
HW1483358
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Character Keys
/Symbol Keys
Axis Keys
/Numeric Keys
Keys pressed
simultaneously
Displays
Manual Designation
The keys which have characters or its
symbol printed on them are denoted with [ ].
ex. [ENTER]
[Axis Key] and [Numeric Key] are generic
names for the keys for axis operation and
number input.
When two keys are to be pressed
simultaneously, the keys are shown with a
“+” sign between them,
ex. [SHIFT]+[COORD]
The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
vi
HW1483358
6/292
HW1483358
Contents
1 Outline ............................................................................................................................................ 1-1
1.1 Outline ............................................................................................................................... 1-1
1.2 Command Remote Setting for YRC1000........................................................................... 1-4
1.2.1 Remote Mode and Local Mode ............................................................................ 1-4
1.2.2 Switching the Function by Command Remote Setting ......................................... 1-5
1.2.3 Command Remote Setting Method ...................................................................... 1-7
1.2.4 Command Remote State Displayed Window ....................................................... 1-8
1.3 Ethernet Cable Connections.............................................................................................. 1-9
1.4 Notes When Loading the Data......................................................................................... 1-10
2 LAN Interface Setting and Network Communication Confirmation ................................................. 2-1
2.1 LAN Interface Setting......................................................................................................... 2-1
2.1.1 Setting procedure ................................................................................................. 2-1
2.1.2 LAN Interface Setting Item ................................................................................... 2-5
2.1.2.1 Host Setting............................................................................................. 2-5
2.1.2.2 Setting the Domain.................................................................................. 2-5
2.1.2.3 IP Address (LAN2) .................................................................................. 2-5
2.1.2.4 IP Address (LAN3) .................................................................................. 2-6
2.1.2.5 Default Gateway...................................................................................... 2-7
2.1.2.6 Static Route (LAN2) ................................................................................ 2-7
2.1.2.7 Static Route (LAN3) ................................................................................ 2-8
2.1.2.8 DNS Setting ............................................................................................ 2-8
2.1.2.9 SNTP Setting .......................................................................................... 2-9
2.2 Daylight Saving Time Setting........................................................................................... 2-10
2.3 LAN Interface Setting Confirmation ................................................................................. 2-14
2.3.1 LAN Interface Setting Confirmation Method....................................................... 2-14
2.3.2 Information Displayed on the Network Service Window..................................... 2-14
2.3.2.1 Host Setting........................................................................................... 2-14
2.3.2.2 Domain Setting...................................................................................... 2-14
2.3.2.3 IP Address (LAN2) ................................................................................ 2-15
2.3.2.4 IP ADDRESS (LAN3) ............................................................................ 2-15
2.3.2.5 Default Gateway.................................................................................... 2-16
2.3.2.6 Static Route (LAN2) .............................................................................. 2-16
2.3.2.7 Static Route (LAN3) .............................................................................. 2-16
2.3.2.8 DNS Setting .......................................................................................... 2-17
2.3.2.9 SNTP Setting ........................................................................................ 2-17
2.4 Network Communication Confirmation ............................................................................ 2-18
2.4.1 Network Communication Confirmation from Windows PC ................................. 2-18
2.4.2 Network Communication Confirmation from the YRC1000 ................................ 2-18
vii
HW1483358
7/292
Contents
HW1483358
3 High-Speed Ethernet Server Function ............................................................................................3-1
3.1 Outline ...............................................................................................................................3-1
3.1.1 System Configuration ...........................................................................................3-1
3.1.2 Communication Target .........................................................................................3-2
3.1.3 Restriction.............................................................................................................3-2
3.2 Setting................................................................................................................................3-3
3.2.1 Basic Setting.........................................................................................................3-3
3.2.2 Batch Data Back-up Function Setting...................................................................3-3
3.2.3 Command Remote Setting ...................................................................................3-4
3.3 Communication Method.....................................................................................................3-5
3.3.1 Packet Format ......................................................................................................3-5
3.3.2 Transmission Procedure.......................................................................................3-9
3.3.2.1 Robot Control/Status Reading.................................................................3-9
3.3.2.2 Robot Control/Data Writing to Register .................................................3-10
3.3.2.3 File Control (File Saving).......................................................................3-11
3.3.2.4 File Control (File Loading) .....................................................................3-14
3.3.2.5 File Control (File List) ............................................................................3-17
3.3.2.6 File Control (Deleting of file)..................................................................3-21
3.3.3 Robot Control Command....................................................................................3-22
3.3.3.1 Alarm Data Reading Command.............................................................3-24
3.3.3.2 Alarm History Reading Command.........................................................3-27
3.3.3.3 Status Information Reading Command .................................................3-30
3.3.3.4 Executing Job Information Reading Command.....................................3-31
3.3.3.5 Axis Configuration Information Reading Command ..............................3-33
3.3.3.6 Robot Position Data Reading Command...............................................3-35
3.3.3.7 Position Error Reading Command.........................................................3-38
3.3.3.8 Torque Data Reading Data....................................................................3-39
3.3.3.9 I/O Data Reading / Writing Command...................................................3-40
3.3.3.10 Register Data Reading / Writing Command ........................................3-41
3.3.3.11 Byte Variable (B) Reading / Writing Command ...................................3-42
3.3.3.12 Integer Type Variable (I) Reading / Writing Command........................3-43
3.3.3.13 Double Precision Integer Type Variable (D) Reading / Writing
Command ............................................................................................3-44
3.3.3.14 Real Type Variable (R) Reading / Writing Command..........................3-45
3.3.3.15 16 Byte Character Type Variable (S) Reading Writing Command ......3-46
3.3.3.16 Robot Position Type Variable (P) Reading / Writing Command..........3-47
3.3.3.17 Base Position Type Variable (BP) Reading / Writing Command.........3-50
3.3.3.18 External Axis Type Variable (EX) Reading / Writing Command..........3-52
3.3.3.19 Alarm Reset / Error Cancel Command................................................3-54
3.3.3.20 Hold / Servo On/off Command ............................................................3-55
3.3.3.21 Step / Cycle / Auto Switching Command.............................................3-56
3.3.3.22 Character String Display Command To The Programming Pendant...3-57
3.3.3.23 Start-up (Job Start) Command ............................................................3-58
viii
HW1483358
8/292
相关推荐
2023年江西萍乡中考道德与法治真题及答案.doc
2012年重庆南川中考生物真题及答案.doc
2013年江西师范大学地理学综合及文艺理论基础考研真题.doc
2020年四川甘孜小升初语文真题及答案I卷.doc
2020年注册岩土工程师专业基础考试真题及答案.doc
2023-2024学年福建省厦门市九年级上学期数学月考试题及答案.doc
2021-2022学年辽宁省沈阳市大东区九年级上学期语文期末试题及答案.doc
2022-2023学年北京东城区初三第一学期物理期末试卷及答案.doc
2018上半年江西教师资格初中地理学科知识与教学能力真题及答案.doc
2012年河北国家公务员申论考试真题及答案-省级.doc
2020-2021学年江苏省扬州市江都区邵樊片九年级上学期数学第一次质量检测试题及答案.doc
2022下半年黑龙江教师资格证中学综合素质真题及答案.doc
