Position Error Reading Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.7 Position Error Reading Command

Command No. 0x76
Instance Specify one out of followings
1 to 8
•
11 to 18
•
21 to 44
•
Attribute Specify one out of followings
1: First axis data
2: Second axis data
3: Third axis data
4: Fourth axis data
5: Fifth axis data
6: Sixth axis data
7: Seventh axis data
8: Eighth axis data
Service Get_Attribute_Singlel: 0x0E
•
Get_Attribute_All:0x01
•
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status 0: no added status
•
size 1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
32bit integer Byte 0 Byte 1
1 First axis data
2 Second axis data
3 Third axis data
4 Fourth axis data
5 Fifth axis data
6 Sixth axis data
7 Seventh axis data
8 Eighth axis data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the control group
1
11
21
Specify the axis number.
Each axis data is output by the same sequence as
mentioned in section 3.3.5 "Axis Configuration
Information Reading Command", and "0" is set to
nonexistent axis.
Specify the accessing method to the data.
0x0E: Read out data of the specified element number
0x01: Read out data of all the element number
Data part
No data part
Answer
Sub header part
<Details>
: respond abnormally
"1" indicates 1 WORD of added status data, and "2"
indicates 2 WORD of added status data.
The error code of 1 WORD exists if the added status
code is "1" and that of 2 WORD exists if the code is "2".
Data part
Byte 2 Byte3 <Details>
Position variable data of each axis can be read out.
3-34
: R1 to 8 : R8 ... Robot axis
: B1 to 18 : B8 ... Base axis
: S1 to 44 : S24 ... Station axis
(In this case, specify0 to the element number.)
HW1480958
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