Plural Register Data Reading / Writing Command - YASKAWA DX100 Instructions Manual

DX100

3.3.28 Plural Register Data Reading / Writing Command

Command No. 0x301
Instance Specify one out of followings
0 to 999
•
Attribute Fixed to "0"
Service 0x33 : Read plural data
0x34 : Write plural data
32bit integer Byte 0
1 Number
2 Register data 1
:
120 Register data 237
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 Number
2 Register data 1
:
120 Register data 237
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify the variable number (the first number with which
reading/writing is executed)
0 to 999 (writable register: 0 to 559)
Specify "0"
Specify the accessing method to the data.
0x33: Read out the fixed size specified by the data part.
0x34: Write the fixed size specified by the data part.
Data part
Byte 1 Byte 2 Byte3
Register data 2
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 1 Byte 2 Byte3
Register data 2
3-61
<Details>
Maximum: 237
I/O data part is valid only when writing. Only
the number of data is valid when reading.
<Details>
Maximum: 237
The data part is valid only when requested by
the client.
HW1480958
162529-1CD
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