External Axis Type Variable (Ex) Reading / Writing Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.18 External Axis Type Variable (Ex) Reading / Writing Command

Command No. 0x81
Instance Specify one out of followings
0 to 127 (for standard setting)
•
Attribute Specify one out of followings
1: Data type
2: "Coordinated data" of the first axis
3: "Coordinated data" of the second axis
4: "Coordinated data" of the third axis
5: "Coordinated data" of the fourth axis
6: "Coordinated data" of the fifth axis
7: "Coordinated data" of the sixth axis
8: "Coordinated data" of the seventh axis
9: "Coordinated data" of the eighth axis
Service Get_Attribute_Single :0x0E
•
Get_Attribute_All
•
Set_Attribute_Single :0x10
•
Set_Attribute_All
•
32bit integer Byte 0
1 Data type
2 First coordinate data
3 Second coordinate data
4 Third coordinated data
5 Fourth coordinate data
6 Fifth coordinate data
7 Sixth coordinate data
8 Seventh coordinate data
9 Eighth coordinate data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
:0x01
:0x02
Data part
(Data exists during the writing operation only)
Byte 1 Byte 2 Byte3
3-48
<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 the axis information data number.
Followings are the data type.
0: Pulse value
Specify the accessing method to the data.
0x0E : Read out the specified data
0x01 : Read out the data
0x10 :Write a specified data. If it is not an object
element, keep the data previous to writing
operation.
0x02 : Write the data
<Details>
0: Pulse value
HW1480958
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