Command 2154: Acquires the manipulator model name
Returns the manipulator model name.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | reserved | Specify “0” |
| ｜ | |||
| 1 | |||
| 0 | Start / Continue | Specify whether to acquire the manipulator model name from the top. 0 = Acquire continuously 1 = Start from the top |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | reserved | Returns “0” |
| ｜ | |||
| 3 | |||
| 2 | acquisitionStatus | 0 = Indicates the last character. 1 = Indicates there is character(s) remained. 2 = Indicates the sending is completed. | |
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Response 2 | 15 | reserved | Returns “0” |
| ｜ | |||
| 8 | |||
| 7 | charaCode | ASCII code | |
| ｜ | |||
| 0 |
Description
Returns the string containing the model name. This is the name shown on the rear panel of the manipulator.
To acquire the model name, follow the steps below.
- Specify “1=Start from the top” in Parameter 1 and issue the command.
- Acquire the first character from the response.
- Specify “0=Acquire continuously” in Parameter 1 and issue the command.
- Acquire one character from the response.
- Check the status of response and repeat the steps from the step 3) if the character is left (1).
- If the response status is “0” (the last character), finish the acquisition.
Example
When the model name is “G6-551S-II”.
| Command | Response |
086AH 0001H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H 086AH 0000H | 086AH 0001H 0047H 086AH 0001H 0036H 086AH 0001H 002DH 086AH 0001H 0035H 086AH 0001H 0035H 086AH 0001H 0031H 086AH 0001H 0053H 086AH 0001H 002DH 086AH 0001H 0049H 086AH 0000H 0049H |