DX100
3.3.8 Torque Data Reading Data
Command No.
0x77
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_Single: 0x0E
•
Get_Attribute_All:0x01
•
Status
Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
: respond abnormally
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>
"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>
Torque data of each axis can be read out.
3-35
: 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
162529-1CD
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