IAI America TTA - Manual (Page 78)

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6. Precautions
6-1. Handling Position Data and Programs
The number of positions and the number of programs than can be handled by each controller differ (refer to Table 6-1). When
handling position data and programs, please follow the three items below. However, [1] is not required if the models to be
supported can be identified.
[1] Determine the number of positions and the number of programs that can be handled by the controller from the
controller’s model code and unit code (for details, refer to 6-1-1).
[2] Use position data query and change messages distinguishably between the controller with extended data and the
controller without extended data (for details, refer to 6-1-2).
[3] If the controller with extended data will handle all data, send the controller function specification 2 (271h) command at
the start of communication (for details, refer to 6-1-3).
Table 6-1
Model Code Unit Code No. of Positions No. of Programs
Extended
Data
X-SEL-J/K B8 - 3000 64 No
S-SEL-JX/KX C0 - 3000 64 No
TT BC - 3000 64 No
X-SEL-P/Q
FROM 16M version
BA
71 4000 64 No
FROM 32M version 72
20000
(4000)
128
(64)
Yes
X-SEL-PX/QX
FROM 16M version
C2
71 4000 64 No
FROM 32M version 72
20000
(4000)
128
(64)
Yes
SSEL
SRAM 4M version
D6
72 1500 64 No
SRAM 16M version 72
20000
(1500)
128
(64)
Yes
ASEL D0 - 1500 64 No
PSEL D3 - 1500 64 No
X-SEL-R/S/RX/SX/R
XD/SXD
1-axis specification
BB (R//S)
C3 (RX/SX)
C5 (RXD/SXD)
-
53332
128 No
2-axis specification 40000
3-axis specification 32000
4-axis specification 26666
5-axis specification 22856
6-axis specification 20000
7-axis specification 17776
8-axis specification 16000
TTA BD - 30000 256 No
* Numbers in ( ) indicate the numbers of data that can be handled before sending the controller function specification 2 (271h)
command.
* X-SEL-J/K/JX/KX/R/S/RX/SX/RXD/SXD, TT, TTA, ASEL/PSEL can be determined solely from the model code.