Command 700: Sets the definition of Local coordinate system
Defines a local coordinate system.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | localNumber | Specifies the local coordinate system number. Local coordinate system can be defined by an integer from 1 to 15. Up to 15 coordinate systems can be defined. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | Coordinate selection | Specifies the coordinate. 0 = X 1 = Y 2 = Z 3 = U 4 = V 5 = W |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | pCoordinateData High-order word | Specifies the origin and the direction of the local coordinate system directory by a point data. Specifies the coordinate (real number) as the value × 1000 converted to a 32-bit integer. High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | pCoordinateData Low-order word | Specifies the origin and the direction of the local coordinate system directory by a point data. Specifies the coordinate (real number) as the value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Sets the local coordinate system of the specified coordinate number by each coordinate.
The setting will be effective after issuing the command for all coordinates, in order of X, Y, Z, U, V, and W.
If the order of coordinates is not proper or another command is executed during the execution of this command, values received at that point will be canceled and an error response will be returned.
- 4-axis manipulator: set the coordinates X, Y, Z, and U.
- 6-axis manipulator: set the coordinates X, Y, Z, U, V, and W.
Example
6-axis manipulator: when setting the following to PlaneNum 1
| X | 100.123 |
| Y | 200.123 |
| Z | 300.123 |
| U | 400.123 |
| V | 500.123 |
| W | 600.123 |
| Command | Response |
02BCH 0001H 0000H 0001H 871BH 02BCH 0001H 0001H 0003H 0DBBH 02BCH 0001H 0002H 0004H 945BH 02BCH 0001H 0003H 0006H 1AFBH 02BCH 0001H 0004H 0007H A19BH 02BCH 0001H 0005H 0009H 283BH | 02BCH 0000H 0000H 02BCH 0000H 0000H 02BCH 0000H 0000H 02BCH 0000H 0000H 02BCH 0000H 0000H 02BCH 0000H 0000H |