Supplement to ACR Programmers Guide,Binary Host Interface
Products: ACR9000,9030,9040,9600,9630,9640, AR-xxCE (Aries Controlller)
Binary parameter access provides a method of reading from and writing to single system parameters on the controller. Unlike binary data packets, binary parameter access uses the actual parameter number. There are no groups or masks.
A parameter access header consists of a Header ID ( 0x00 ) followed by a Packet ID code and a 2-byte parameter. The Packet ID codes for the different types of packets are shown below. The following pages define each of the packets in detail.
|Packet ID Codes|
|0x88||Binary Get Long||Receive long integer from controller|
|0x89||Binary Set Long||Send long integer to controller|
|0x8A||Binary Get Float||Receive Float value from controller|
|0x8B||Binary Set Float||Send Float value to controller|
When using the Binary Parameter Access, the parameter is converted to hex. The parameter is a 2-byte value sent low-order byte first. Here are some examples:
P12288(current position, axis0) converts to 30 00. Request is sent to controller as 00 88 00 30
P12546(actual position, axis1) converts to 31 02. Request is sent to controller as 00 88 02 31
P8193(vector velocity) converts to 2001. Request is sent to controller as 00 8A 01 20