Reference Commands
| Group | Command number | Hexadecimal | Description | Number of Words | |
|---|---|---|---|---|---|
| Command | Response | ||||
| Current position information | 2150 | 866H | Acquires the current position of the manipulator | 2 | 5 |
| Acquisition of the distance between 2 manipulator coordinates | 2151 | 867H | Acquires the distance between 2 manipulator coordinates | 3 | 3 |
| PTP move check | 2152 | 868H | Acquires whether the PTP (point to point) motion from the current position to the target position is possible | 2 | 3 |
| Manipulator type acquisition | 2153 | 869H | Acquires the manipulator type | 1 | 3 |
| Manipulator model name acquisition | 2154 | 86AH | Acquires the manipulator model name | 2 | 3 |
| Controller error | 2155 | 86BH | Acquires the Controller error information | 1 | 2 |
| Control dev ice | |||||
| acquisition | 2156 | 86CH | Acquires the control device | 1 | 2 |
| PLC vender type | |||||
| acquisition | 2157 | 86DH | Acquires PLC vender type | 1 | 2 |