Omron TJ2-MC64 - PROGRAMMING Programming Manual page 214

Communication protocols
• xx = memory address (Most significant byte)
• yy = memory address (Middle byte)
• zz = memory address (Least Significant byte)
The TJ2-MC64 responds with these codes:
/i
Condition Response code
(hex)
All elements valid 0000
Var_type invalid 1101
Start_address invalid 1103
Number of elements invalid 1104
Maximum length exceeded 110B
Parameter error 110C
If the response code is 0000, the TJ2-MC64 responds with:
/i
20 01 00
command_code response_code
Note
The returned words and dwords are in big-endian format.
/i
Axis parameters offsets
Offset Axis parameter
0 UNITS
1 ACCEL
2 ATYPE
3 AXIS_ENABLE
PROGRAMMING MANUAL
Description
OK
No area type
Address range designation error
Address out of range
Reply (response) exceeds the maxi-
mum response length
Invalid var_type
00 .. .. ..
byte_1 byte_2 ...
Axis parameters offsets
Offset Axis parameter
4 AXISSTATUS
5 CREEP
6 D_GAIN
7 DAC
8 DATUM_IN
9 DECEL
10 DEMAND_SPEED
11 DPOS
12 DRIVE_CONTROL
13 DRIVE_INPUTS
14 DRIVE_MONITOR
15 DRIVE_STATUS
16 ENCODER
17 ENCODER_BITS
18 ENCODER_CONTROL
19 ERRORMASK
20 FASTDEC
21 FE
22 FE_LIMIT
23 FE_RANGE
24 FHOLD_IN
25 FHSPEED
26 FS_LIMIT
27 FWD_IN
28 I_GAIN
29 JOGSPEED
208