Command 557: Selects the data type and acquires the details of pallet definition
Acquires the details of a pallet definition for the specified pallet by specifying the data type.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | palletNumber | Specifies the pallet number by an integer from 0 to 15. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | data | Select the types of data 1 and data 2. 0: Data 1= P1 / Data 2 = P2 1: Data 1= P3 / Data 2 = P4 2: Data 1 = columns 1 / Data 2 = rows 2 3: Data 1= P3 / Data 2 = No data |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | Data1 | Returns as follows depending on the value of data selection. 0: Point variable to copy the P1 coordinate 1: Point variable to copy the P3 coordinate 2: No data 3: Point variable to copy the P3 coordinate |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | Data2 | Returns as follows depending on the value of data selection. 0: Point variable to copy the P2 coordinate 1: Point variable to copy the P4 coordinate 2: No data 3: No data |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | data | Returns the types of data 1 and data 2. 0: Data 1= P1 / Data 2 = P2 1: Data 1= P3 / Data 2 = P4 2: Data 1= columns 1 / Data 2 = rows 2 3: Data 1= P3 / Data 2 = No data |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | Data1 | Returns as follows depending on the value of data selection. 0: Point variable which is a copy of the P1 coordinate 1: Point variable which is a copy of the P3 coordinate 2: columns 3: Point variable which is a copy of the P3 coordinate |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 3 | 15 | Data2 | Returns as follows depending on the value of data selection. 0: Point variable which is a copy of the P2 coordinate 1: Point variable which is a copy of the P4 coordinate 2: rows 3: No data |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
This command acquires the details of pallet definition for the specified pallet separately. Acquires data by selecting its type.
Data selection can be in a random order.
An error response will be returned in following cases:
- The specified pallet is not defined.
- The specified pallet is defined by 3-point definition, while “1” is selected in Data selection.
- The specified pallet is defined by 4-point definition, while “3” is selected in Data selection.
Example
When copying the coordinate of a 4-point definition of pallet 3 to the following specified point variable:
P1=10, P2=20, P3=30, P4=40
columns=10, rows=15
| Command | Response |
022DH 0003H 0000H 000AH 0014H 022DH 0003H 0001H 001EH 0028H 022DH 0003H 0002H 0000H 0000H | 022DH 0001H 000AH 0014H 022DH 0002H 001EH 0028H 022DH 0003H 000AH 000FH |
When copying the coordinate of a 3-point definition of pallet 3 to the following specified point variable:
P1=10, P2=20, P3=30
columns=10, rows=15
| Command | Response |
022DH 0003H 0000H 000AH 0014H 022DH 0003H 0003H 001EH 022DH 0003H 0002H | 022DH 0000H 000AH 0014H 022DH 0003H 001EH 022DH 0003H 000AH 000FH |