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DE FIN E I N T R E A L L O C E N D SU B E N D S U B M O TIO N M O V E M O V E A M O V E S R E A D Y D E L A Y M O V E C A PP R O D E P A R T D R A W D R I V E R O T A T E A L I G N SP L IN E C O N T F IN E L O C A TI ON L SE T L D E L L R E N L C O P Y L D A T A SH I FT H E R E I/ O IF SI G G O SI G SD A T A S D E F SIG SI G N IN S IG O U T S IN T P U L S E W A IT F A RA L T R E E S C H K SO U T PR OG R A M G O T O IF T H E N E L SE E N D I F R E T U R N FO R N E X T W H IL E E W H IL E S T O P G O S U B FU NC TIO N SIN C O S A T A N L N L O G E X P A B S P O W E X T SQ R T PA R A M E T ER A C C M SP D U L L L IN PO S T IN P O SA E N V E L A R E FP N T S PE E D L E FT R IG H T A B O V E B E L O W F L IP N O FL IP W O R K T O O L T C P C OM M R E A D W R IT E T R A N S L O A D PA L LE T C O U N T M O V E P P A L L E T
Y - 1 + - + 2 FARA ver5 FARA ver5 Z WORLD X JOINT 4 - + - 3 +
Interface RS232C Serial Speed (Baud Rate) 2400, 4800, 9600, 19200 (Synchronization) (Half Duplex) (Asynchronization) 8 Data Bits, 1Stop Bit, No Parity PROTOCOL1, PROTOCOL2, PROTOCOL3
PARAMETER PROTOCOL TYPE PROTOCOL2 PROTOCOL1, PROTOCOL2 BAUD RATE 19200 2400-38400 PROTOCOL1, PROTOCOL2 ROBOT ID BASE 0 0 ~ 253 PROTOCOL2 INTER-CHAR TIMEOUT 0.5 0.1~10 PROTOCOL1, PROTOCOL2 PROTOCOL TIMEOUT 3 0.2 ~25 PROTOCOL1, PROTOCOL2 REPLY TIMEOUT 10 1~120 PROTOCOL1, PROTOCOL2 INTER-BLOCK TIMEOUT 10 1~120 PROTOCOL2 RETRY LIMIT 3 0~31 PROTOCOL2
Name Hex Code ENQ 0x05 Enquiry EOT 0x04 End Of Transmission ACK 0x06 Acknowledgement SOH 0x01 Start Of Header STX 0x02 Start Of Text GS 0x1D Group Separator ETX 0x03 End Of Text
SOH Token STX ErrH ErrL RobotID Data(nBytes) GS CSH CSL ETX
ENQ SOH TOKEN STX ERROR H ERROR L ROBOT # ACK or NAK DATA GS CHECKSUM H CHECKSUM L ETX EOT ENQ SOH TOKEN STX ERROR H ERROR L ROBOT # DATA GS CHECKSUM H CHECKSUM L ETX ACK or NAK EOT
Message Length Header Text Checksum 1 byte 10 byte 0~244 byte 2 byte
Name Hex Code Function ENQ 0x05 Request to Send EOT 0x04 Ready to Receive ACK 0x06 Correct Reception NAK 0x15 Incorrect Reception
0.1 0.5 ~ 1 10.0
0.2 3 25
0 () 3 31
Message Length HEADER TEXT CHKSUM DeviceID Stream & Function Block Number Message Number 2 byte (16bit) R-bit(1bit) 0 (7bit) Device ID(8bit)
Stream & Function W-bit(1bit) Stream(7bit) Function(8bit) Upper Block Number(4 byte) Lower
Block Number(2 byte) E-bit Upper(7bit) Lower(8bit)
1 10 120
1 10 120
Message Length HEADER TEXT CHKSUM Device Block Message Stream Function ID Number Number Message Length HEADER TEXT CHKSUM Device Block Message Stream Function ID Number Number Message Length HEADER TEXT CHKSUM Device ID Stream Function Block Number Message Number Message Length HEADER TEXT CHKSUM Device Block Message Stream Function ID Number Number
Message Length HEADER TEXT CHKSUM Device ID Stream Function Block Number Message Number Message Length HEADER TEXT CHKSUM Device Block Message Stream Function ID Number Number
Message Length HEADER TEXT CHKSUM Device ID Stream Function Block Number Message Number TEXT Format Length Data 1 byte 1-3 byte 0-7,995,144 byte Format Data 0x21 1byte Length 0~255 byte 0x22 2byte Length 0~65,535 byte 0x23 3byte Length 0~7,995,144 byte
Data Format Length '#' 'L' 'O' 'C' '1' '=' '1' '0' '.' TEXT 0x21 0x19 0x23 0x4C 0x4F 0x43 0x31 0x3D 0x31 0x30 0x2E Data '0' ',' '2' '0' '.' '0' ',' '3' '0' '.' '0' TEXT 0x30 0x2C 0x32 0x30 0x2E 0x30 0x2C 0x33 0x30 0x2E 0x30 Data ',' '4' '0' '.' '0' TEXT 0x2C 0x34 0x30 0x2E 0x30
TEXT 0x21 5 'E' '$' '0' '0' '0' Binary 5 byte Data Error Error Code (10) Data Format Length 'E' '$' '0' '1' '0' TEXT 0x21 0x05 0x45 0x24 0x30 0x31 0x30
SRC+ Servo On Command 05 ENQ 0A 80 00 C0 93 80 01 00 00 00 02 02 56 04 EOT 0A Block Length (10byte) 80 00 R-Bit=1, Device ID = 0 C0 W-Bit=1, Stream=0x40 Function=Token(=0x4a)*2-1 80 01 E-Bit=1, Block No=1 00 00 00 02 System Bytes = 2 02 56 CheckSum 06 ACK Servo On Command. 05 ENQ 04 EOT 0A Block Length(10byte) 00 00 R-Bit =0,Device ID = 0 40 W-Bit=0,Stream = 0x40 0A 00 00 40 94 80 01 00 94 Function=Token(=0x4a)*2 00 00 02 01 57 80 01 E-Bit=1, Block No=1 00 00 00 02 System Bytes = 2 01 57 CheckSum 06 ACK 7.13 Servo on
SRC+ ABC ProgramCommand 05 ENQ 0F 80 00 C0 57 80 01 00 00 00 01 21 03 41 42 43 03 03 04 EOT 0F Block Length(15byte) 80 00 R-Bit=1, Device ID = 0 C0 W-Bit=1, Stream=0x40 Function=Token(=0x2c)*2-1 80 01 E-Bit=1, Block No=1 00 00 00 01 System Bytes = 1 21 Binary Code,Length Size=1byte 03 3byte Text 41 42 43 Text( 'A', 'B', 'C') 03 03 CheckSum 06 ACK Program 05 ENQ 04 EOT 0A Block Length(10byte) 00 00 R-Bit =0,Device ID = 0 40 W-Bit=0,Stream = 0x40 0A 00 00 40 58 80 01 00 58 Function=Token(=0x4a)*2 00 00 01 01 1A 80 01 E-Bit=1, Block No=1 00 00 00 01 System Bytes = 1 01 1A CheckSum 06 ACK.7.14 Program
1 2 Token (RS232C) /V 0x50 (Variable). TRANS /N (Network) /L 0x4E (Location). /I 0x52 (I/O Signal). (RS232C) /V 0x4F (Variable). LOAD WRITE /N (Network) (RS232C) /N (Network) /L 0x4D (Location). /I 0x51 (I/O Signal). 0x50.
'V' 'A' 'R' '1' '=' '1' '2' '3' '4' ',' 'V' 'A' 0x56 0x41 0x52 0x31 0x3D 0x31 0x32 0x33 0x34 0x2C 0x56 0x41 'R' '2' '=' '3' '4' '5' '.' '6' '7' '8' ',' '@' 0x52 0x32 0x3D 0x33 0x34 0x35 0x2E 0x36 0x37 0x38 0x2C 0x40 'I' '2' '0' '=' '5' '5' 0x49 0x32 0x30 0x3D 0x35 0x35
'#' 'L' 'O' 'C' '1' '=' '1' '2' '.' '1' '2' ',' 0x23 0x4C 0x4F 0x43 0x31 0x3D 0x31 0x32 0x2E 0x31 0x32 0x2C '0' '.' '0' '0' ',' '3' '.' '4' '4' ',' '2' '3' 0x30 0x2E 0x30 0x30 0x2C 0x33 0x2E 0x34 0x34 0x2C 0x32 0x33 '.' '5' '5' <CR> 'L' 'O' 'C' '2' '=' '2' '3' '.' 0x2E 0x35 0x35 0x0D 0x4C 0x4F 0x43 0x32 0x3D 0x32 0x33 0x2E '5' '4' ',' '3' '4' '.' '2' '3' ',' '1' '2' '.' 0x35 0x34 0x2C 0x33 0x34 0x2E 0x32 0x33 0x2C 0x31 0x32 0x2E '4' '0' ',' '0' '.' '0' '0' 0x34 0x30 0x2C 0x30 0x2E 0x30 0x30
'I' '=' '0' '0' '1' '0' '0' '0' '0' '1' '1' '0' 0x49 0x3D 0x30 0x30 0x31 0x30 0x30 0x30 0x30 0x31 0x31 0x30 '1' '0' '1' '1' '0' '0' '1' '1' '1' '1' '0' '0' 0x31 0x30 0x31 0x31 0x30 0x30 0x31 0x31 0x31 0x31 0x30 0x30 '0' 0x30
Token Receive 0x26 Send 0x27 Delete 0x28 Rename 0x29 Copy 0x2A List 0x2B Run 0x2C,0x2D Stop 0x2D Pause/Resume 0x73 Override Speed 0x61,0x62 Override Speed Receive 0x55 Send 0x56 Delete 0x22 Rename 0x23 Copy 0x24 On, Off 0x4A,0x4B Zero Return 0x41 Do Service 0x68 Batch Do Service 0x5F Here 0x42 System Information 0x67 Status 0x5B,0x79 Date&Time 0x74 Error History 0x75 Error History Parameter Receive, Send 0x65,0x66 Parameter Special Register Receive, Send 0x71,0x72 Special Register User I/O Set, Read 0x48,0x49 ERROR RESET RESET 0X40
Program Ext Run# Program Data 0x20 0x20
'P' 'R' 'O' 'G' ' ' ' ' ' ' ' ' -1+49 'R' 0x50 0x52 0x4F 0x47 0x20 0x20 0x20 0x20 0x20 0x20 0x30 0x52 'E' 'A' 'D' 'Y' CR 'M' 'O' 'V' 'E' ' ' '#' 'L' 0x45 0x41 0x44 0x59 0x0D 0x4D 0x4F 0x56 0x45 0x20 0x23 0x4C 'O' 'C' '1' CR 'E' 'N' 'D' 0x4F 0x43 0x31 0x0D 0x45 0x4E 0x44
Program Ext Run# Program Data 0x20 0x20 'P' 'R' 'O' 'G' ' ' ' ' ' ' ' ' -1+49 'R' 0x50 0x52 0x4F 0x47 0x20 0x20 0x20 0x20 0x20 0x30 0x52 'E' 'A' 'D' 'Y' CR 'M' 'O' 'V' 'E' ' ' '#' 'L' 0x45 0x41 0x44 0x59 0x0D 0x4D 0x4F 0x56 0x45 0x20 0x23 0x4C 'O' 'C' '1' CR 'E' 'N' 'D' 0x4F 0x43 0x31 0x0D 0x45 0x4E 0x44
'P' 'R' 'G' '1' ',' '0' ',' '1' '2' '3' CR 'T' 0x50 0x52 0x47 0x31 0x2C 0x30 0x2C 0x31 0x32 0x33 0x0D 0x54 'E' 'S' 'T' ',' '1' ',' '1' '0' '0' 0x45 0x53 0x54 0x2C 0x31 0x2C 0x31 0x30 0x30
'0' XY '1' SCARA '2' RSC2 '3' AM1 '4' AS1 '5' PL2 '6' AC1 '7' N50 '8' N130 '9' XY2 'A' SCARA2 'B' AW1 'C' AS2 'D' Reserved 'E' PL2A 'F' AT1 'G' 'H' 'I' TLTRSA 'J' TLTRD 'K' TLTRDA 'L' TRS 'M' TRSA 'N' TRD 'O' TRDA
Jog Mode Pause Mode '0' or '1' '0' or '1' '0' or '1' '0' or '1' '0' or '1' '0' or '1' '0' or '1' (2 Byte) 16 Comma Override Speed(1byte) 16 4ByteAscii ',' 2 byteascii