You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
5. Type R Interface <br />
Program Data Save<br />
Transmitted data format<br />
Packet Length Address 57h Program No. Line Number (2 bytes) Command Code Data Check sum<br />
ExampleThis program is PRG number 0, which performs a zero-return and a 100ms Timer Wait, and<br />
then executes an incremental move.<br />
Line Command Code<br />
0 Zero-returnNegative direction push origin, velocity=75min -1 , gird shift=200, 45h<br />
counter=0<br />
1 Zero-return complete waitThis line waits to complete while operating 67h<br />
2 Timer Wait200ms 61h<br />
3 Absolute travel distancevelocity1000 min -1 , accel. / decel. rate100 min -1 /ms, 44h<br />
absolute position4000<br />
4 PRG exit 60h<br />
Packet ADR Command PRG No Line Line Command Data (n byte) Sum<br />
(lower) (higher)<br />
12h 0 57h 0 0 0 45h 13h,4B,4B,C8,0,0,0,0,0,0 1Fh<br />
Bh 0 57h 0 1 0 67h 0,1,0 CBh<br />
Ah 0 57h 0 2 0 61h C8h,0 8Ch<br />
13h 0 57h 0 3 0 44h E8h,3,64h,64h,A0h,0Fh,0,0, 13h<br />
0,0,0,0,A<br />
8 0 57h 0 4 0 60h C3h<br />
Program data RD<br />
Transmitted data format:<br />
Packet Address 82h Program No. Line Number Check<br />
Length<br />
(2 bytes) sum<br />
Returned data format:<br />
Packet<br />
Length<br />
Address Response<br />
Status<br />
Command<br />
Code<br />
Datan byte Check<br />
sum<br />
There is no program number or line number attached to the return data.<br />
578
Change language