IAI America TTA - Manual (Page 40)

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4-3-22. Relative-Coordinate
Specification Movement (235H)
Function: Move the actuator to the relative coordinates specified with respect to the current position.
Data name Data range (value)
Data size
[bytes]
Cumulative
bytes [bytes]
Endian Sign extension
Unit Description Remarks
Big Little Yes No
Command
Header '!' 1 1  
Station 'XX(h)' 2 3  
Message ID '235(h)' 3 6  
Axis pattern 'XX(h)' 2 8  
Acceleration 'XXXX(h)' 4 12   0.01 G
The parameter setting becomes effective if
zero.
Deceleration 'XXXX(h)' 4 16   0.01 G
The parameter setting becomes effective if
zero.
Speed 'XXXX(h)' 4 20   mm/sec
The parameter setting becomes effective if
zero.
(Safety limit applies depending on the mode.)
Relative coordinate
data (*1)
'XXXXXXXX(h)' 8 28   0.001 mm
Remaining relative
coordinate data
Data indicated by *1
for the number of
remaining axes
MAX
56
MAX
84
  0.001 mm
Data indicated by * x Number of remaining
effective axes = 8 bytes x (Max 8 – 1) axes =
Max 56 bytes
SC 'XX(h)' 2
MAX
86
 
CR 0Dh 1
MAX
87
 
LF 0Ah 1
MAX
88
 
Normal
response
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '235(h)' 3 6  
SC 'XX(h)' 2 8  
CR 0Dh 1 9  
LF 0Ah 1 10  
Error
respon
se
Error response
format Refer to the error
response format.
10 10  
(Note 1) Add H (or h) at the end of each data expressed in hexadecimal notation. If there is no H or h at the end, the data is considered a decimal.
(Note 2) Data enclosed in single quotation marks indicates an ASCII code. Data is a hexadecimal ASCII code if (h) is added before the closing quotation mark, or a decimal ASCII code if (d) is
added before the closing quotation mark.