Command 2150: Acquires the current position of the manipulator

Returns the current position of the manipulator.

Command Syntax

	bit	Name	Description
Parameter 1	15	reserved	Specify “0”
	｜
	6
	5	format	Select the format of data. 0: World 1: Joint 2: Pulse 3: Flag
	4
	3	reserved	Specify “0”
	2	axisSelection	Specifies the coordinate or axis to acquire the position. *If “3: Flag” is selected in Format, specify “0”. [Format: World] 1: X coordinate 2: Y coordinate 3: Z coordinate 4: U coordinate 5: V coordinate 6: W coordinate [Format: Joint or Pulse] 1: Joint #1 2: Joint #2 3: Joint #3 4: Joint #4 5: Joint #5 6: Joint #6
	1
	0

Response Syntax

Format of the response data varies depending on the format of data to be acquired.

When format is either World, Joint, or Pulse.

	bit	Name	Description
Response 1	15	position High-order word	Returns the high-order word (16 bit) of the position.
	14
	｜
	1
	0

	bit	Name	Description
Response 2	15	position Low-order word	Returns the low-order word (16 bit) of the position.
	14
	｜
	1
	0

When World or Joint is selected

Returns the position information as the actual value 1000 converted to a 32-bit integer.

If the setting value is a negative number, returns the value in 32-bit two’s complement.

• When World is selected:
  X, Y, Z = mm
  U, V, W = deg

• When Joint is selected:
  For prismatic joints, Unit: mm
  For rotational joints, Unit: deg

• When Pulse is selected
  Returns the value by pulse (32-bit integer without offset)

When format is Flag.

	bit	Name	Description
Response 1	15	reserved	Specify “0”
	｜
	3
	2	wrist	0 = NoFlip 1 = Flip *Effective only for 6-axis manipulators.
	1	elbow	0 = Above 1 = Below *Effective only for 6-axis manipulators.
	0	hand	0 = Lefty 1 = Righty

	bit	Name	Description
Response 2	15	localNumber	Returns the local number
	14
	｜
	1
	0

	bit	Name	Description
Response 3	15	J4flag	Returns the statsu of j4flag. 0 = J4F0 1 = J4F1 *Effective only for 6-axis manipulators.
	14
	｜
	1
	0

	bit	Name	Description
Response 4	15	J6flag	Returns the status of j6flag. 0 = J6F0 ｜ 127 = J6F127 *Effective only for 6-axis manipulators.
	14
	｜
	1
	0

Description

The command returns the information of current manipulator position. This command can be executed when the manipulator is stopped.

Select the information to be acquired in Parameter 1 .

To acquire the position information, for instance, select either World, Joint, or Pulse in format and select axis to acquire the information.

To acquire all information, the command must be executed several times.

Example

When acquring Y-axis coordinate in World.

Y coordinate is 100.002 mm.

Command	Response
0866H 0002H	0866H 0001H 86A2H