IAI America TTA User Manual
Page 19
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4-3-5.
Effective Position Data Query (Old: Effective Point Data Query) (209H)
Function: Query data for the number of query positions from the query head position number, and return the number of effective position data and the data.
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
'209(h)'
3
6
Query head position number
'XXX(h)'
3
9
Number of query records
'XXX(h)'
3
12
The number of records will be limited based on the
send/receive buffers.
SC 'XX(h)'
2
14
CR 0Dh
1
15
LF 0Ah
1
16
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'209(h)'
3
6
Number of effective records
'XXX(h)'
3
9
The number of records will be limited based on the
send/receive buffers.
Posi
tion
data
(
*1)
Position number
'XXX(h)'
3
12
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
Position data repetition for
remaining records
Data indicated by *1
for the number of
remaining records
MAX
242919
MAX
243009
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining records
= Max 81 bytes x (Max 3000 records – 1) = Max
242919 bytes
SC 'XX(h)'
2
MAX
243011
CR 0Dh
1
MAX
243012
LF 0Ah
1
MAX
243013
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.