IAI America TTA - Manual (Page 35)

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4-3-17. Effective Position Data Query 2 (Old: Effective Point Data Query 2) (21FH)
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 '21F(h)' 3 6  
Query head position
number
'XXXX(h)' 4 10  
Number of query
records
'XXXX(h)' 4 14  
The number of records will be limited based
on the send/receive buffers.
SC 'XX(h)' 2 16  
CR 0Dh 1 17  
LF 0Ah 1 18  
Normal response
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '21F(h)' 3 6  
Number of effective
records
'XXXX(h)' 4 10   The number of records will be limited based
on the send/receive buffers.
Position data (*1)
Position number 'XXXX(h)' 4 14  
Axis pattern 'XX(h)' 2 16  
Acceleration 'XXXX(h)' 4 20   0.01 G
Deceleration 'XXXX(h)' 4 24   0.01 G
Speed 'XXXX(h)' 4 28   mm/sec
Position data (*2) 'XXXXXXXX(h)' 8 36   0.001 mm
Position data
repetition for
remaining effective
axes Data indicated by
*2 for the number
of remaining
effective axes
MAX
56
MAX
92
  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
1639918
MAX
1640010
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining
records = Max 82 bytes x (Max 2000 records
– 1) = Max 1639918 bytes
SC 'XX(h)' 2
MAX
1640012
 
CR 0Dh 1
MAX
1640013
 
LF 0Ah 1
MAX
160014
 
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.