Automatic Node Number Setting (Setid - Yamaha TS-P User Manual

Yamaha single-axis robot controller
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Automatic node number setting (SETID)

@SETID
Format
Sets node numbers for daisy-chained controllers.
Meaning
Function
Sets the node numbers to the daisy-chained controllers from "1" in order of
distance starting from the controller nearest to the host communication device.
The maximum number of controllers that can be daisy-chained is 16. If 17 or more
controllers are connected, they may not operate properly.
Make sure that there are no daisy-chained controllers having the same node number
before sending other command.
WARNING
If there are controllers with the same node number, perform automatic node number
setting again. If you do not do this, the system may not operate properly.
Communication example (16 daisy-chained controllers)
Transmission
@SETID c/r l/f
If you receive several identical responses, there is a duplication of node number.
[Example] When reading the node number (K38) from all the nodes by query command
Transmission
@?K38 c/r l/f
CAUTION
In this case, be sure to perform automatic node number setting.
3. Communication command description
Response
Performs automatic node number setting
OK.1 c/r l/f
Node number 1 setting end
OK.2 c/r l/f
Node number 2 setting end
:
OK.16 c/r l/f
Node number 16 setting end
Response
K38.1=1 c/r l/f
OK.1 c/r l/f
K38.2=2 c/r l/f
OK.2 c/r l/f
K38.2=2 c/r l/f
OK.2 c/r l/f
Communication Command Guide
Duplication
1
2
3
C-13

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