Step / Cycle / Continuous Switching Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.21 Step / Cycle / Continuous Switching Command

Command No. 0x84
Instance Specify the following
2
•
Attribute Fixed to "1".
Service Set_Attribute_Single: 0x10
•
32bit integer Byte 0
1 Data 1
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status size 0: no added status
•
1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the type of status switch command
2: CYCLE (switching of STEP/CYCLE/CONTINUE)
Specify "1".
Specify the accessing method to the data.
0x10 : Execute the specified request
Data part
(Data exists during the writing operation only)
Byte 1 Byte 2 Byte3
Answer
Sub header part
: respond abnormally
Data part
No data part
3-52
<Details>
CYCLE = 1: STEP/2: 1 CYCLE/3:CONTINUE
<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".
HW1480958
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