Command 701: Acquires the definition of Local coordinate system
Acquires a Local coordinate definition.
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 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | localNumber | Returns the specified number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 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 | |
|---|---|---|---|
| Response 3 | 15 | pCoordinateData High-order word | Returns 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 | |
|---|---|---|---|
| Response 4 | 15 | pCoordinateData Low-order word | Returns the coordinate (real number) as the value × 1000 converted to a 32-bit integer. Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
Acquires the local coordinate system of the specified coordinate number by each coordinate.
The value will be returned as fixed-point data which validates to three decimal places.
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 |
02BDH 0001H 0000H 02BDH 0001H 0001H 02BDH 0001H 0002H 02BDH 0001H 0003H 02BDH 0001H 0004H 02BDH 0001H 0005H | 02BDH 0001H 0000H 0001H 871BH 02BDH 0001H 0001H 0003H 0DBBH 02BDH 0001H 0002H 0004H 945BH 02BDH 0001H 0003H 0006H 1AFBH 02BDH 0001H 0004H 0007H A19BH 02BDH 0001H 0005H 0009H 283BH |