Integer Type Variable (I) Reading / Writing Command - YASKAWA DX100 Instructions Manual

DX100

3.3.12 Integer Type Variable (I) Reading / Writing Command

Command No. 0x7B
Instance Specify one out of followings
0 to 99 (for standard setting)
•
Attribute Fixed to "1".
Service Get_Attribute_Single: 0x0E
•
Get_Attribute_All: 0x01
•
Set_Attribute_Single: 0x10
•
Set_Attribute_All: 0x02
•
32bit integer Byte 0 Byte 1
1 I variable
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 I variable
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the variable number.
Since the extended variable is an optional function,
follow the numbers of the variables specified by the
parameter when specifying the number.
Specify "1".
Specify the accessing method to the data.
0x0E/0x01: Read out data of the specified element
0x10/0x02: Write the data to the specified variable
Data part
(Data exists during the writing operation only)
Byte 2 Byte3
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
(Data exists during the writing operation only)
Byte 2 Byte3
3-39
number
<Details>
Set the data when writing.
<Details>
The data exists only when requested by the client.
HW1480958
162529-1CD
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