DX100
3.3.14 Real Type Variable (R) Reading / Writing Command
Command No.
0x7D
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
R 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
R 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
The data exists only when requested by the client.
3-41
number
<Details>
Set the data when writing.
<Details>
HW1480958
162529-1CD
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