Management Time Acquiring Command - YASKAWA DX100 Instructions Manual

DX100

3.3.25 Management Time Acquiring Command

Command No. 0x88
Instance Specify one out of followings
1
•
10
•
11 to 18
•
21 to 44
•
110
•
111 to 118
•
121 to 144
•
210
•
211 to 218
•
221 to 244
•
301 to 308
•
Attribute Specify one out of followings
1: Operation start time
2: Elapse time
Service Get_Attribute_Single: 0x0E
•
Get_Attribute_All: 0x01
•
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
32bit integer Byte 0 Byte 1
1 Operation start time
(Character strings: 16 characters)
2
Ex. 2011/10/10 15:49
3
4
5 Elapse time
(Character strings: 12 characters)
6
Ex. 000000:00'00
7
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the type of the management time
1
10
11 to 18
21 to 44
110
111 to 118 :Play back time (R1 to R8)
121 to 144 :Play back time (S1 to S24)
210
211 to 218 :Motion time (R1 to R8)
221 to 244 :Motion time (S1 to S24)
301 to 308 :Operation time (application 1 to 8)
Specify the type of the management time
Specify the accessing method to the data.
0x0E : Read out data of the specified element number
0x01 : Read out data of all the element number
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
Byte 2 Byte3 <Details>
Operation start time
Elapse time
3-57
:Control power ON time
:Servo power ON time (TOTAL)
:Servo power ON time (R1 to R8)
:Servo power ON time (S1 to S24)
:Play back time (TOTAL)
:Motion time (TOTAL)
(In this case, specify0 to the element number.)
HW1480958
162529-1CD
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