Serial Interface Protocol
S1=A; S2=6 0x100–(0x01+0x96+0x8C+0x04+0x33)=
0xA6.
Response message format in case of no fault:
N a m Id1 Id2 F1
F2
SW1
SW2
SW3
SW4
N 0 0 0 0 0 0 0 4 3 7
→
S1 S2 CR
→
C 5 CR
GET_VAR command
Example of response message to GET_VAR command to variable
Position_Actual_value (0x09) to axis 0 in Immediate mode with message
identification of 0x7F.
Master Message Format:
N A m Id1 Id2 C1
C2
V1
V2
P1
P2
S1 S2 CR
N 0 A 6 5 4 8 0 0 0 9 4 0 CR
Response Message Format in cases of no fault:
N a m Id1 Id2 C1 C2 Inx_1 Inx_2
N 0 2 6 5 4 8 0 9
→
V1 V2 V3 V4 V5 V6 V7 V8 S1 S2 CR
→
F F F F F 0 6 0 F A CR
Where:
A = 0 Axis number 0
m = 2 Response type is Answer for data request
command.
ID1 = 6; Id2 = 5 Message identification contains the same value
as master message identification.
C1 = 4; C2 = 8 Response message Operational Code.
Inx_1=0;
Inx_2=9
Variable Position_Actual_value ID.
V1 - V8 =
FFFFF060
Variable value. Since Position_Actual_value is
signed and the leftmost bit is 1, the number is
XtraWare User Manual 189
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