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@carpenders

COBOTTA TwinCAT 連携

Last updated at Posted at 2023-03-14

ロボットポータル
https://qiita.com/carpenders/items/1a653b1ca831547c92d3

リンク集

TwinCAT Motion

連携機能目次
https://www.fa-manuals.denso-wave.com/jp/RC9/011135/
TcCOMモジュール一覧
https://www.fa-manuals.denso-wave.com/jp/RC9/011139/
TcDwNcDrivePos
https://www.fa-manuals.denso-wave.com/jp/RC9/011151/
TcDwNcEncPos
https://www.fa-manuals.denso-wave.com/jp/RC9/011154/
TcDwNcCtrl
https://www.fa-manuals.denso-wave.com/jp/RC9/011157/

質問

位置情報XYZRxRyRzは負数はあるのでしょうか？
ロボットが出力しているエンコーダ情報ですが、プラス/マイナスはあります。
nDataIn1の先頭ビット(15Bit目)が1の場合は負数、0の場合は正数になります。

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