IAI America TTA - Manual (Page 66)

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4-3-48. SCARA
Axis Status Query (2A1H)
Function: Query the axis status (SCARA).
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 '2A1(h)' 3 6  
Query axis pattern 'XX(h)' 2 8  
For the X-SEL-PX/QX/RX/SX series, status of
direct-acting axes can be queried (simultaneous
specification with SCARA axes is permitted).
Type 'X(h)' 1 9  
Bit 2, 3 (Reserved for system use)
Bit 0, 1 (Current position type): 0 = Base coordinate
system / 1 = Selected work coordinate system / 2 =
Reserved for system use / 3 = Each axis system
SC 'XX(h)' 2 11  
CR 0Dh 1 12  
LF 0Ah 1 13  
Normal
re
spon
se
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '2A1(h)' 3 6  
Work coordinate system
selection number
'XX(h)' 2 8  
Work coordinate system selection number (0 ~)
For the X-SEL-RXD/SXD series, work coordinate
system selection number of 1st to 4th SCARA axes
Tool coordinate system
selection number
'XX(h)' 2 10  
Tool coordinate system selection number (0 ~)
For the X-SEL-RXD/SXD series, work coordinate
system selection number of 1st to 4th SCARA axes
Common axis status 'XX(h)' 2 12  
Bit 4 to 7 (Reserved for system use)
Bit 2, 3 (Current position coordinate system type): 0 =
Base coordinate system / 1 = Selected work coordinate
system / 2 = Reserved for system use / 3 = Each axis
system
Bit 0, 1 (Current arm system): 0 = Right arm system / 1 =
Left arm system / 2 = Indeterminable / 3 = Reserved for
system use
For the X-SEL-RXD/SXD series, axis common status of
1st to 4th SCARA axes
Axis pattern 'XX(h)' 2 14  
No axis
pattern is the
same as
“driver not
connected.”