IAI America TTA - Manual (Page 82)

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7. Change History
Revision number Date Content of change Page Changed by
First edition Nov. 19, '02 - Kaimoto
Second edition Dec. 02, '02
Added note on bit 0 status (Servo axis in use) under “Axis Status Query” and “SCARA Axis Status
Query.”
P26, P56 Kaimoto
Third edition Jan. 09, '03
Added check method for operation command positioning under IAI protocol for the axis status
under “Axis Status Query” and “SCARA Axis Status Query.”
P26, P56 Kaimoto
Fourth edition Aug. 24, '06
• Added note under “System Status Query.”
Added note on use of the X-SEL (P/Q series) (Cartesian/SCARA)/SSEL/ASEL/PSEL
controller. P29 Shinbo
 Aug. 24, '06
• Changed specification under “Version Code Query.”
Added “Mounted SIO” for “Unit type.”
P16 Shinbo
 Aug. 24, '06
• Changed description.
Changed all references to “long-type data (hexadecimal ASCII code)” to “hexadecimal ASCII
code.”
(Changed under “Integer Variable Query,” “Axis Status Query” and “Integer Variable
Change.”)
P22, P27, P45 Shinbo
 Aug. 24, '06
• Added description under “Home Return.”
• Changed “* With the SCARA (axis) type, this message can be used only by IAI as a “Z-axis
ABS reset position movement” command in the “Description” field.
• Added “For the X-SEL-PX/QX series, specify only direct-acting axes” for “Axis pattern.”
P34 Shinbo
 Aug. 24, '06
• Changed/added note for “Axis pattern” under “Jogging/Inching.”
• Changed to “Only one SCARA axis can be specified for the SCARA type (multiple axes
cannot be specified).”
• Changed to “With the SCARA type, a jogging/inching command can be issued only when
none of the SCARA servo axes are operating.”
• Added “For the X-SEL-PX/QX series, SCARA and direct-acting axes cannot be specified
simultaneously.
P37 Shinbo
 Aug. 24, '06
• Changed note under “SCARA Absolute-Coordinate Specification Movement,” “SCARA
Relative-Coordinate Specification Movement” and “SCARA Point-Number Specification
Movement.”
• Added “For the X-SEL-PX/QX series, simultaneous specification of SCARA and
direct-acting axes is prohibited (direct-acting axes can be specified)” for “Axis pattern.”
• Added “(Invalid for non-SCARA axes)” for “Positioning operation type.”
P59, P60, P61 Shinbo