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Datafields Format
Datafields must be consistent with the format byte and the axes byte. For example, the command PR
1000 would be
where
Example
The command ST Awould be
where
Binary command table
COMMAND
reserved
KP
KI
KD
DV
AF
reserved
PL
ER
IL
TL
MT
CE
OE
FL
BL
AC
DC
SP
IT
i
38
Chapter 5 Command Basics
nd
Bit 1 = B axis or 2
data field
st
Bit 0 = A axis or 1
data field
A7 02 00 01 03 ES
A7 is the command number for PR
02 specifies 2 bytes for each data field
00 S is not active for PR
00 specifies bit 0 is active for A axis (2
03 E8 represents 1000
FE OE represents -500
A1 00 00 01
A1 is the command number for ST
00 specifies 0 data fields
00 specifies no coordinated motion
01 specifies stop X (bit 0), (2
NO.
COMMAND
80
reserved
81
reserved
82
reserved
83
reserved
84
reserved
85
reserved
86
reserved
87
reserved
88
reserved
89
reserved
8a
reserved
8b
reserved
8c
reserved
8d
reserved
8e
reserved
8f
reserved
90
reserved
91
reserved
92
CM
93
CD
0
=1)
0
=1)
NO.
ab
ac
ad
ae
af
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
ba
bb
bc
bd
be
COMMAND
NO.
reserved
d6
reserved
d7
RP
d8
TP
d9
TE
da
TD
db
TV
dc
RL
dd
TT
de
TS
df
TI
e0
SC
e1
reserved
e2
reserved
e3
CO
e4
TM
e5
CN
e6
LZ
e7
OP
e8
OB
e9
CDS-3310
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