YASKAWA DX100 Instructions Manual page 22

DX100
Item
Identifier
Header part size
Data part size
Reserve 1
Processing division
ACK
Request ID
Block No.
Reserve 2
Sub-header Command No.
(request)
Instance
Attribute
Service
(request)
Sub-header Service (answer) 1byte
(answer)
Status
Added status
size
Added status
Padding
3 Transmission Procedure
3.1 Packet Format
Data size Settings
4byte Fixed to "YERC"
2byte Size of header part (fixed to 0x20)
2byte Size of data part (variable)
1byte Fixed to "3"
1byte 1: robot control
2: file control
1byte Request: 0
Other than request: 1
1byte Identifying ID for command session
(increment this ID every time the client side outputs a new
command. In reply to this, server side answers the received
value.)
4byte Request: 0
Answer: add 0x8000_0000 to the last packet.
Data transmission other than above: add 1
8byte Fixed to "99999999"
2byte Execute processing by this command.
(conforms to "Class" of CIP communication protocol)
2byte Define SECTION to execute a command.
(conforms to "Padding" of CIP communication protocol)
1byte Define SUB SECTION for executing a command.
Attribute: (conforms to "Attribute" of CIP communication
protocol)
1byte Define data accessing method.
Add 0s80 to service (request).
1byte 0x00: normal reply
Other than 0x00: abnormal reply
1byte Size of added status
(0: not specified / 1: 1 WORD data / 2: 2 WORD data)
2byte Error code specified by added status size
For details, refer to chapter 5 "Added Status Code".
Variable Reserve area
3-3
162529-1CD
(max: 0x7FFF_FFFF)
HW1480958
22 of 119