IAI America TTA User Manual
Page 66
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4-3-48. SCARA
Axis
Status Query (2A1H)
Function: Query the axis status (SCARA).
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
'2A1(h)'
3
6
Query axis pattern
'XX(h)'
2
8
For the X-SEL-PX/QX/RX/SX series, status of
direct-acting axes can be queried (simultaneous
specification with SCARA axes is permitted).
Type 'X(h)'
1
9
Bit 2, 3 (Reserved for system use)
Bit 0, 1 (Current position type): 0 = Base coordinate
system / 1 = Selected work coordinate system / 2 =
Reserved for system use / 3 = Each axis system
SC 'XX(h)'
2
11
CR 0Dh
1
12
LF 0Ah
1
13
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'2A1(h)'
3
6
Work coordinate system
selection number
'XX(h)' 2 8
Work coordinate system selection number (0 ~)
For the X-SEL-RXD/SXD series, work coordinate
system selection number of 1st to 4th SCARA axes
Tool coordinate system
selection number
'XX(h)' 2
10
Tool coordinate system selection number (0 ~)
For the X-SEL-RXD/SXD series, work coordinate
system selection number of 1st to 4th SCARA axes
Common axis status
'XX(h)'
2
12
Bit 4 to 7 (Reserved for system use)
Bit 2, 3 (Current position coordinate system type): 0 =
Base coordinate system / 1 = Selected work coordinate
system / 2 = Reserved for system use / 3 = Each axis
system
Bit 0, 1 (Current arm system): 0 = Right arm system / 1 =
Left arm system / 2 = Indeterminable / 3 = Reserved for
system use
For the X-SEL-RXD/SXD series, axis common status of
1st to 4th SCARA axes
Axis pattern
'XX(h)'
2
14
No axis
pattern is the
same as
“driver not
connected.”