Outline; Robot Control/Status Reading - YASKAWA DX100 Instructions Manual

DX100
3.2

3.2.1 Robot Control/Status Reading

Request
"YERC"
0x0020
0x03 0x01
0x0000_0000
"99999999"
0x0072
0x00 0x01
Answer
"YERC"
0x0020
0x03 0x01
0x8000_0000
"99999999"
0x81 0x00
0x0000
Status data 1
Status data 2
3 Transmission Procedure

3.2 Outline

Outline
The transmission/receiving flow of the transmission packet is divided into
robot control and file control. Please refer to section 3.3 "Respective
Commands for Robot Control" for the details of respective robot control
commands (request/answer) and section 3.4 "File Control Command" for
the details of respective file control commands.
[Ex. When Reading]
UDP: optional
PC
Request (status reading request)
More than two commands are occasionally
processed till the socket is closed
<Format>
0x0000
0x00 0x00 Reserve 1
0x0001
0x0000 Attribute
<Format>
0x0000
0x01 0x00 Reserve 1
0x00 0x00
0x0000
3-5
Socket opened
Answer (status)
Socket closed
Identifier
Header part size
Processing
division
Block No.
Reserve 2
Command No.
Service
Identifier
Header part size
Processing
division
Block No.
Reserve 2
Service Status
status size
Added status
Reading value 1
Reading value 2
HW1480958
162529-1CD
UDP:10040
DX100
Data part size
ACK Request ID
Instance
Padding
Data part size
ACK Request ID
Added Padding
Padding
24 of 119