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EFORT INTELLIGENT EQUIPMENT CO.,LTD
174
5
End tag of pac
ket
Packet_End
string
16
MessageTail
Notes!
“Data heartbeat” should send a value different from that sent last time.
Table 5-27 Robot sending back MES system
#
Meaning
Variable
Type
Byte
Remark
1
Starting tag of
packet
Packet_Start
string
16
MessageHead
2
Data length
Packet_Length
short
2
788
3
Data command
Packet_Orders
short
2
1002
4
Data heartbeat
Packet_Heartbeat
short
2
5
Alarm status
bErrorStatus
bool
1
1: with alarm;
0: without alarm
6
Emergency stop
status
bHstopStatus
bool
1
1: without emerge
ncy stop;
0: with emergency
stop
7
Permission statu
s
bAuthorityStatus
bool
1
No external PLC
mode
8
Servo status
bServoStatus
bool
1
1: enabled;
0: disabled
9
Axis motion sta
te
bAxisMoveStatus
bool
1
1: with motion;
0: without motion
10
Program runnin
g status
bProgMoveStatus
bool
1
1: with running;