IAI America TTA User Manual
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4-3-47. Coordinate System Definition Data Range-Specification Continuous Query (2A0H)
Function: Query the definition data for coordinate system.
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
'2A0(h)'
3
6
Type 'X(h)'
1
7
0 = Work coordinate system definition data / 1 = Tool
coordinate system definition data
Query-target head
coordination system
definition data number
'XX(h)' 2 9
Work/tool coordinate system definition data number (0
~)
Number of query records
'XX(h)'
2
11
The number of records will be limited based on the
send/receive buffers.
SC 'XX(h)'
2
13
CR 0Dh
1
14
LF 0Ah
1
15
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'2A0(h)'
3
6
Type 'X(h)'
1
7
0 = Work coordinate system definition data / 1 = Tool
coordinate system definition data
Response start
coordinate system
definition data number
'XX(h)' 2 9
Work/tool coordinate system definition data number (0
~)
Number of response
records
'XX(h)' 2
11
The number of records will be limited based on the
send/receive buffers.
Coordin
a
te
s
yst
em
defini
tion
d
a
ta (
*1)
Coordinate
offset (*2)
''XXXXXXXX(h)' 8
19
0.001
mm
X-axis
data
Remaining
coordinate
offset
Date indicated by *2
for the remaining 3
axes
24 43
0.001 mm
(R-axis:
0.001 deg)
Data indicated by *2 x Remaining 3 axes (Y, Z, R-axes)
= 8 bytes x 3 axes = 24 bytes
Remaining coordinate
system definition data
Data indicated by *1
for the number of
remaining records
MAX
4064
MAX
4107
Refer to the
data
indicated
by *1.
Data indicated by *1 x Number of remaining records = 32
bytes x (Max 128 records – 1) = Max 4064 bytes
SC 'XX(h)'
2
MAX
4109
CR 0Dh
1
MAX
4110
LF 0Ah
1
MAX
4111
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.