IAI America TTA User Manual
Page 36
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4-3-18. Effective Position Data Query 3 (Old: Effective Point Data Query 3) (22DH)
Function: Query data for the number of query points from the query head point number, and return the number of effective point 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
'22D(h)'
3
6
Reserved for system use
’00(h)’
2
8
Query head position number
'XXXX(h)'
4
12
Number of query records
'XXXX(h)'
4
16
The number of records will be limited based on the
send/receive buffers.
SC 'XX(h)'
2
18
CR 0Dh
1
19
LF 0Ah
1
20
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'22D(h)'
3
6
Reserved for system use
’00(h)’
2
8
Number of effective records
'XXXX(h)'
4
12
Posi
tion
data
(
*1)
Position number
'XXXX(h)'
4
16
Axis pattern
'XX(h)'
2
18
Acceleration 'XXXX(h)'
4
22
0.01 G
Deceleration 'XXXX(h)'
4
26
0.01 G
Speed 'XXXX(h)'
4
30
mm/sec
Position data (*2)
'XXXXXXXX(h)'
8
38
0.001
mm
Position data repetition
for remaining effective
axes
Data indicated by
*2 for the number
of remaining
effective axes
MAX
56
MAX
94
0.001
mm
Data indicated by *2 x Number of remaining effective
axes = 8 bytes x (Max 8 – 1) axes = Max 56 bytes
Extended data
‘XX(h)’
2
MAX 96
Bits 0 to 3 (spare)
Bits 4 to 5 (SCARA 1 arm system data): 0 = No
specification / 1 = Right arm system / 2 = Left arm
system
Bits 6 to 7 (SCARA 2 arm system data): 0 = No
specification / 1 = Right arm system / 2 = Left arm
system
Position data repetition for
remaining records
Data indicated by
*1 for the number
of remaining
records
MAX
1679916
MAX
1680012
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining records
= Max 84 bytes x (Max 2000 records – 1) = Max
1679916 bytes
SC 'XX(h)'
2
MAX
1680014
CR 0Dh
1
MAX
1680015
LF 0Ah
1
MAX
1680016
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.