System Information Acquiring Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.26 System Information Acquiring Command

Command No. 0x89
Instance Specify one out of followings
11 to 18
•
21 to 44
•
101 to 108
•
Attribute Specify one out of followings
1: System software version
2: Model name / application
3: Parameter version
Service Get_Attribute_Single: 0x0E
•
Get_Attribute_Al: 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
1 System software version
(Character strings: 24 characters)
2
Ex. DS2.07.00A. (JP/US) -00
3
4
5
6
7 Model name / application
(Character strings: 16 characters)
8
Ex.
9
(For model) ES0165D-A0*
(For application) ARC WELDING
10
11 Parameter version
(Character strings: 8 characters)
12
Ex. 12.34
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the type of system type.
11 to 18: Type information (R1 to R8)
21 to 44: Type information (S1 to s24)
101 to 108: Application information (application 1 to 8)
Specify the type of system information
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
: respond abnormally
Data part
Byte 1 Byte 2 Byte3
3-58
(In this case, specify0 to the element number)
<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".
<Details>
The same character strings are returned even if either
11 to 18, 21 to 44 or 101 to 108 is specified to the
instance in the request sub-header part.
The model name is returned when it is R1 to R8, and
NULL character is returned when it is S1 to S24. Also,
application name is returned when it is application 1 to
8R.
R1 to R8: Parameter version
When it is nonexistent control group, it is returned in
NULL characters.
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