IAI America TTA - Manual (Page 64)

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4-3-46. Change Position Data Continuous Write 3 (Old: Change Point Data Continuous Write 3) (291H)
Function: Change the specified position data for the number of change position 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 '291(h)' 3 6  
Reserved for system use ’00(h)’ 2 8  
Change start position
data number
'XXXX(h)' 4 9  
Number of change
position data
'XXXX(h)' 4 12   The number of data will be limited based on the
send/receive buffers.
Posi
tion
data
(
*1)
Axis pattern 'XX(h)' 2 14  
Acceleration 'XXXX(h)' 4 18   0.01 G
Deceleration 'XXXX(h)' 4 22   0.01 G
Speed 'XXXX(h)' 4 26   mm/sec
Position data (*2) 'XXXXXXXX(h)' 8 34   0.001 mm
Position data
repetition for
remaining effective
axes Data indicated by *2
for the number of
remaining effective
axes
MAX
56
MAX
90
  0.001 mm
Data indicated by *2 x Number of remaining effective
axes = 8 bytes x (Max 8 – 1) axes = Max 56 bytes
Extended data ‘XX(h)’ 2 MAX 96  
Bits 0 to 3 (spare)
Bits 4 to 5 (SCARA 1 arm system data): 0 = No
specification / 1 = Right arm system / 2 = Left arm
system
Bits 6 to 7 (SCARA 2 arm system data): 0 = No
specification / 1 = Right arm system / 2 = Left arm
system
Position data repetition
for remaining data
Data indicated by *1
for the number of
remaining data
MAX
1679916
MAX
1680012
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining data =
Max 84 bytes x (Max 20000 data – 1) = Max
1679916 bytes
SC 'XX(h)' 2
MAX
1680014
 
CR 0Dh 1
MAX
1680015
 
LF 0Ah 1
MAX
1680016
 
Normal
re
spon
se
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '291(h)' 3 6  
Reserved for system use ’00(h)’ 2 8  
Number of changed
position data
'XXXX(h)' 4 12   The number of data will be limited based on the
send/receive buffers.
SC 'XX(h)' 2 14  
CR 0Dh 1 15  
LF 0Ah 1 16  
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.