IAI America TTA User Manual
Page 70
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4-3-50. SCARA Axis Status Query 2 (2A3H)
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-RX/SX series, status of direct-acting axes can be
queried (simultaneous specification with SCARA axes is
permitted).
Type 'X(h)'
2
10
Bits 0 to 1 (1st to 4th axes SCARA current position type *Disabled
for direct-acting axes: 0 = Base coordinate system / 1 = Selected
work coordinate system / 2 = Reserved/3 = Each axis system
Bits 2 to 3 (Reserved)
Bits 4 to 5 (5th to 8th SCARA current position type *Disabled for
direct-acting axes: 0 = Base coordinate system / 1 = Selected
work coordinate system / 2 = Reserved/3 = Each axis system
Bits 6 to 7 (Reserved)
SC 'XX(h)'
2
12
CR 0Dh
1
13
LF 0Ah
1
14
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'2A3(h)'
3
6
SCARA axis pattern
'XX(h)'
2
8
SCARA axis pattern in query response axis
Work coordinate system
selection number
(1st to 4th axes)
'XX(h)' 2
10
Work coordinate system selection number (0 ~)
Tool coordinate system
selection number
(1st to 4th axes)
'XX(h)' 2
12
Tool coordinate system selection number (0 ~)
SCARA axes (1st to 4th
axes)
common status
'XX(h)' 2
14
Bits 0 to 1 (SCARA axis current arm system): 0 = Indeterminable /
1 = Right arm system / 2 = Left arm system / 3 = Reserved for
system use
Bits 2 to 3 (SCARA axis current position coordinate system type):
0 = Base coordinate system / 1 = Selected work coordinate
system / 2 = Reserved for system use / 3 = Each axis system
Bits 4 to 7 (Reserved for system use)
Work coordinate system
selection number
(5th to 8th axes)
'XX(h)' 2
16
Work coordinate system selection number (0 ~)
Tool coordinate system
selection number
(5th to 8th axes)
'XX(h)' 2
18
Tool coordinate system selection number (0 ~)
SCARA axes (5th to 8th
axes)
common status
'XX(h)' 2
20
Bits 0 to 1 (SCARA axis current arm system): 0 = Indeterminable /
1 = Right arm system / 2 = Left arm system / 3 = Reserved for
system use
Bits 2 to 3 (SCARA axis current position coordinate system type):
0 = Base coordinate system / 1 = Selected work coordinate
system / 2 = Reserved for system use / 3 = Each axis system
Bits 4 to 7 (Reserved for system use)
Axis pattern
'XX(h)'
2
22
Query response all axes pattern
No axis pattern
is the same as
“driver not
connected.”