IAI America TTA User Manual
Page 74
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4-3-53. SCARA
Relative-Coordinate Specification Movement (2D5H)
Function: Move to the relative coordinates specified with respect to the current position (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
'2D5(h)'
3
6
Axis pattern
'XX(h)'
2
8
For the X-SEL-PX/QX/RX/SX series, simultaneous specification of
SCARA and direct-acting axes is prohibited (direct-acting axes can be
specified).
Acceleration 'XXXX(h)'
4
12
% or 0.01 G
The parameter setting becomes effective if 0.
* Unit: Movement control = PTP: [%] / Movement control = CP: [0.01 G]
Deceleration 'XXXX(h)'
4
16
% or 0.01 G
The parameter setting becomes effective if 0.
* Unit: Movement control = PTP: [%] / Movement control = CP: [0.01 G]
Speed 'XXXX(h)'
4
20
% or mm/sec
The parameter setting becomes effective if 0. (Safety limit applies
depending on the mode.)
* Unit: Movement control = PTP: [%] / Movement control = CP: [mm/sec]
Positioning operation
type
'XX(h)' 2 22
(Invalid for non-SCARA axes)
Bits 5 to 7 (Reserved for system use)
Bits 3, 4 (PTP target arm system specification type (Always move current
arm system if CP)): 0 = Current arm system (Movement of opposite arm
system prohibited if unfeasible) / 1 = Current arm system (Movement of
opposite arm system permitted if unfeasible) / 2 = Right arm system
(Movement of opposite arm system prohibited if unfeasible) / 3 = Left arm
system (Movement of opposite arm system permitted if unfeasible)
Bits 1, 2 (Movement coordinate system): 0 = Reserved for system use / 1
= Selected work coordinate system / 2, 3 = Reserved for system use
Bit 0 (Movement control): 0 = PTP / 1 = CP
Relative coordinate
data (*1)
'XXXXXXXX(h)' 8
30
0.001
mm
Remaining relative
coordinate data
Data indicated by *1
for the number of
remaining axes
MAX
56
MAX
86
0.001 mm
(R-axis:
0.001 deg)
Data indicated by *1 x Number of remaining effective axes = 8 bytes x
(Max 8 – 1) axes = Max 56 bytes
SC 'XX(h)'
2
MAX
88
CR 0Dh
1
MAX
89
LF 0Ah
1
MAX
90
Norm
al
respon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'2D5(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.