Page 2
Table of Contents
1. Specifications ................................................................................................................................................................ 4
2. General Conventions ..................................................................................................................................................... 5
2.1 Command, Response Format ............................................................................................................................. 5
2.2 Command, Response Contents......................................................................................................................... 6
2.3 Sum Check........................................................................................................................................................ 8
2.4 Important Notes ................................................................................................................................................ 9
3. Inquiry Text ................................................................................................................................................................ 9
3.1 Test Call ............................................................................................................................................................ 10
3.2 Version Inquiry ................................................................................................................................................. 11
3.3 Input Port Inquiry ............................................................................................................................................. 12
3.4 Output Port Inquiry .......................................................................................................................................... 13
3.5 Flag Inquiry ...................................................................................................................................................... 14
3.6 Available Memory Inquiry ............................................................................................................................... 15
3.7 Program Parameter Inquiry .............................................................................................................................. 16
3.8 Program Status Inquiry .................................................................................................................................... 17
3.9 Program Step Content Inquiry ......................................................................................................................... 18
3.10 SIO Parameter Inquiry ..................................................................................................................................... 19
3.11 Point Parameter Inquiry ................................................................................................................................... 20
3.12 Servo Parameter Inquiry................................................................................................................................... 21
3.13 Servo Parameter Inquiry by Axis ..................................................................................................................... 22
3.14 Homing Parameter Inquiry by Axis ................................................................................................................. 23
3.15 Motor Parameter Inquiry by Axis .................................................................................................................... 24
3.16 Circular Parameter Inquiry .............................................................................................................................. 25
3.17 Axis Status Inquiry ........................................................................................................................................... 26
3.18 Task Status Inquiry ........................................................................................................................................... 27
3.19 Step Quantity Inquiry ....................................................................................................................................... 28
3.20 Point Data Inquiry ............................................................................................................................................ 29
3.21 Error Message Inquiry...................................................................................................................................... 30
3.22 Variable Inquiry ................................................................................................................................................ 31
4. Execution Text ............................................................................................................................................................ 32
4.1 Servo ON/OFF .................................................................................................................................................. 33
4.2 Homing ............................................................................................................................................................. 34
4.3 Move to Specified Position ............................................................................................................................... 35
4.4 JOG Move ......................................................................................................................................................... 36
4.5 Point Number Move ......................................................................................................................................... 37
4.6 Erase Program .................................................................................................................................................. 38
4.7 Add Program Step ............................................................................................................................................ 39
4.8 Change Program ............................................................................................................................................... 40
4.9 Execute Program .............................................................................................................................................. 41
4.10 Stop Program .................................................................................................................................................... 42
4.11 Insert Program Step .......................................................................................................................................... 43
4.12 Reorganize Program Memory .......................................................................................................................... 44
4.13 Erase Program Step .......................................................................................................................................... 45
4.14 Set Point Data ................................................................................................................................................... 46
4.15 Clear Point Data ............................................................................................................................................... 47
4.16 Copy Point Data ............................................................................................................................................... 48
4.17 Shift Point Data ................................................................................................................................................ 49
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2009-10-27
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ray171262013-01-07现在正做IAI电缸的通讯控制，很有用
