IAI America TTA - Manual (Page 60)

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4-3-42. Change Position Data Continuous Write 2 (Old: Change Point Data Continuous Write 2) (26DH)
Function: Change position data for the number of change positions from the change start position number.
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 '26D(h)' 3 6  
Number of change
position data
'XXXX(h)' 4 10  
The number of data will be limited based on
the send/receive buffers.
Position data (*1)
Change position
data number
'XXXX(h)' 4 14  
Axis pattern 'XX(h)' 2 16
Acceleration 'XXXX(h)' 4 20   0.01 G
Deceleration 'XXXX(h)' 4 24   0.01 G
Speed 'XXXX(h)' 4 28   mm/sec
Position data (*2) 'XXXXXXXX(h)' 8 36   0.001 mm
Position data
repetition for
remaining
effective axes Data indicated by *2
for the number of
remaining effective
axes
MAX
56
MAX
92
  0.001 mm
Data indicated by *2 x Number of remaining
effective axes = 8 bytes x (Max 8 – 1) axes =
Max 56 bytes
Position data
repetition for
remaining data Data indicated by *1
for the number of
remaining data
MAX
1639918
MAX
1640010
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining
data = Max 82 bytes x (Max 20000 data – 1) =
Max 1639918 bytes
SC 'XX(h)' 2
MAX
1640012
 
CR 0Dh 1
MAX
1640013
 
LF 0Ah 1
MAX
1640014
 
Normal response
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '26D(h)' 3 6  
Number of changed
position data
'XXXX(h)' 4 10  
The number of data will be limited based on
the send/receive buffers.
SC 'XX(h)' 2 12  
CR 0Dh 1 13  
LF 0Ah 1 14  
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.