Communication protocols
PROGRAMMING MANUAL
208
R
e
vi
si
o
n
1
.0
•
xx = memory address (Most significant byte)
•
yy = memory address (Middle byte)
•
zz = memory address (Least Significant byte)
The TJ2-MC64 responds with these codes:
/i
If the response code is 0000, the TJ2-MC64 responds with:
/i
/i
Condition
Response code
(hex)
Description
All elements valid
0000
OK
Var_type invalid
1101
No area type
Start_address invalid
1103
Address range designation error
Number of elements invalid
1104
Address out of range
Maximum length exceeded
110B
Reply (response) exceeds the maxi-
mum response length
Parameter error
110C
Invalid var_type
20
01
00
00
..
..
..
command_code
response_code
byte_1
byte_2
...
Note
The returned words and dwords are in big-endian format.
Axis parameters offsets
Offset
Axis parameter
0
UNITS
1
ACCEL
2
ATYPE
3
AXIS_ENABLE
4
AXISSTATUS
5
CREEP
6
D_GAIN
7
DAC
8
DATUM_IN
9
DECEL
10
DEMAND_SPEED
11
DPOS
12
DRIVE_CONTROL
13
DRIVE_INPUTS
14
DRIVE_MONITOR
15
DRIVE_STATUS
16
ENCODER
17
ENCODER_BITS
18
ENCODER_CONTROL
19
ERRORMASK
20
FASTDEC
21
FE
22
FE_LIMIT
23
FE_RANGE
24
FHOLD_IN
25
FHSPEED
26
FS_LIMIT
27
FWD_IN
28
I_GAIN
29
JOGSPEED
Axis parameters offsets
Offset
Axis parameter