Command 850: Defines the Base coordinate system
Defines the base coordinate system.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | coordinateSelection | Specifies the coordinate. 0=X 1=Y 2=Z 3=U 4=V 5=W |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | specifiedCoordinate High-order word | Specifies the coordinate value (real number) as the value × 1000 converted to a 32-bit integer. X, Y, Z = mm U, V, W = deg High-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | specifiedCoordinate Low-order word | Specifies the coordinate value (real number) as the value × 1000 converted to a 32-bit integer. X, Y, Z = mm U, V, W = deg Low-order side 16 bit. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
Refer to the following.
Description
Defines the base coordinate system by each coordinate.
If 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.
The value will be returned as fixed-point data which validates to three decimal places.
Also, if the setting value is a negative number, specify the value in 32-bit two’s complement.
Example
When defining the origin coordinate of the base coordinate system as X=100 mm and Y=100 mm.
| Command | Response |
0352H 0000H 0001H 86A0H 0352H 0001H 0001H 86A0H 0352H 0002H 0000H 0000H 0352H 0003H 0000H 0000H 0352H 0004H 0000H 0000H 0352H 0005H 0000H 0000H | 0352H 0000H 0000H 0352H 0000H 0000H 0352H 0000H 0000H 0352H 0000H 0000H 0352H 0000H 0000H 0352H 0000H 0000H |