IAI America TTA User Manual
Page 72
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4-3-51. Coordinate System Definition Data Range-Specification Continuous Query 2 (2A4H)
Function: Query the definition data for coordinate system.
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
'2A4(h)'
3
6
Query axis pattern
'XX(h)'
2
8
Specify with 0Fh, F0h or FFh.
Type 'X(h)'
1
9
0 = Work coordinate system definition data / 1 = Tool
coordinate system definition data
Query-target head
coordination system
definition data number
'XX(h)' 2
11
Work/tool coordinate system definition data number (0
~)
Number of query records
'XX(h)'
2
13
The number of records will be limited based on the
send/receive buffers.
SC 'XX(h)'
2
15
CR 0Dh
1
16
LF 0Ah
1
17
Normal
re
spon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'2A4(h)'
3
6
Response axis pattern
'XX(h)'
2
8
Response with only query axis pattern data out of data
for the number of fixed axes (by model).
Type 'X(h)'
1
7
0 = Work coordinate system definition data / 1 = Tool
coordinate system definition data
Response start
coordinate system
definition data number
'XX(h)' 2 9
Work/tool coordinate system definition data number (0
~)
Number of response
records
'XX(h)' 2
11
The number of records will be limited based on the
send/receive buffers.
Coordin
a
te
s
yst
em
defini
tion
d
a
ta (
*1)
Coordinate
offset (*2)
''XXXXXXXX(h)' 8
19
0.001
mm
X-axis
data
Remaining
coordinate
offset
Date indicated by *2
for the remaining 3
axes
MAX 56
MAX 75
0.001 mm
(R-axis:
0.001 deg)
Data indicated by *2 x Number of remaining response
axes = 8 bytes × (Max 8 - 1) axes = 56 bytes
Remaining coordinate
system definition data
Data indicated by *1
for the number of
remaining records
MAX
16256
MAX
16331
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining records = 64
bytes x (Max 255 records – 1) = Max 16256 bytes
SC 'XX(h)'
2
MAX
16333
CR 0Dh
1
MAX
16334
LF 0Ah
1
MAX
16335
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.