Register Data Reading / Writing Command - YASKAWA DX100 Instructions Manual

DX100

3.3.10 Register Data Reading / Writing Command

Command No. 0x79
Instance Specify one out of followings
0 to 999
•
Attribute Fixed to "1".
Service Get_Attribute_Single: 0x0E
•
Set_Attribute_Single: 0x10
•
32bit integer Byte 0 Byte 1
1 Register data
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 Register data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the register number
0 to 999 (writable register: 0 to 559)
Specify "1".
Specify the accessing method to the data.
0x0E: Read out the specified register data
0x01: Register 0 to 599 is writable
Data part
(Data exists during the writing operation only)
Byte 2 Byte3 <Details>
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
(Data exists during the writing operation only)
Byte 2 Byte3 <Details>
Register data exists only when requested by the client.
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