IAI America TTA - Manual (Page 38)

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4-3-20. Home Return (233H)
Function: Perform home return. * With the SCARA (axis) type, this message can be used only by IAI as a “Z-axis ABS reset position movement” command.
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 '233(h)' 3 6  
Axis pattern 'XX(h)' 2 8  
For the X-SEL-PX/QX/RX/SX series, specify
only direct-acting axes.
End search speed at
home return
'XXX(h)' 3 11   mm/sec The parameter setting becomes effective if zero.
Creep speed at home
return
'XXX(h)' 3 14   mm/sec The parameter setting becomes effective if zero.
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 '233(h)' 3 6  
SC 'XX(h)' 2 8  
CR 0Dh 1 9  
LF 0Ah 1 10  
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.