B
Communication Command Guide
B-14
3.4 Query commands
The query commands are intended to read the data or robot status.
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
Format
@?M<point number>[.<node number>] c/r l/f
@?P<point number>[.<node number>] c/r l/f
@?S<point number>[.<node number>] c/r l/f
@?AC<point number>[.<node number>] c/r l/f
@?DC<point number>[.<node number>] c/r l/f
@?Q<point number>[.<node number>] c/r l/f
@?ZL<point number>[.<node number>] c/r l/f
@?ZH<point number>[.<node number>] c/r l/f
@?N<point number>[.<node number>] c/r l/f
@?J<point number>[.<node number>] c/r l/f
@?F<point number>[.<node number>] c/r l/f
@?T<point number>[.<node number>] c/r l/f
Meaning
Reads the individual data of a specified point.
Function
Reads the individual data of a specified point.
The command may vary depending on the type of individual data. For details, see the table below.
Command and data type
n
Command
Type
Unit
Standard Setting
Custom Setting
?M
Operation type
-
?P
Position
Other than TS-P : 0.01mm
TS-P
: 0.001mm
?S
Speed
%
0.01mm/s
?AC
Acceleration
%
0.01m/s
2
?DC
Deceleration
%
?Q
Push
%
?ZL
Zone (-)
Other than TS-P : 0.01mm
TS-P
: 0.001mm
?ZH
Zone (+)
Other than TS-P : 0.01mm
TS-P
: 0.001mm
?N
Near width
Other than TS-P : 0.01mm
TS-P
: 0.001mm
?J
Jump
-
?F
Flag
-
?T
Timer
ms
n
NOTE
The individual data of the point data related to the position or speed may include the decimal point due to the
specifications. However, when handling such data using the communication command, all of data are handled
as integer values. For example, when the position data is "20 [mm]", the communication command at the TS-S,
TS-S2, TS-SH, and TS-X would be "2000" (×10
-2
), and the communication command at the TS-P would be "20000"
(×10
-3
). In both cases, no decimal point is used.
Setting
<Point number> : 1 to 255
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
with the host device, as by daisy chain connection.)
