Automatic Node Number Setting (Setid - Yamaha TS-S User Manual

Yamaha single-axis robot controller ts series
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Automatic node number setting (SETID)
Format
@SETID
Meaning
Sets node numbers for daisy-chained controllers.
Function
Sets the node numbers to the daisy-chained controllers from "1" in order of distance starting from the controller nearest
to the host communication device.
w
WARNING
• THE MAXIMUM NUMBER Of CONTROLLERS THAT CAN BE DAISy-CHAINED IS 16. If 17 OR MORE CONTROLLERS ARE
CoNNECtED, thEy MAy Not opERAtE pRopERly.
• MAkE SuRE thAt thERE ARE No DAISy-ChAINED CoNtRollERS hAvING thE SAME NoDE NuMBER BEfoRE SENDING
othER CoMMAND.
If thERE ARE CoNtRollERS WIth thE SAME NoDE NuMBER, pERfoRM AutoMAtIC NoDE NuMBER SEttING AGAIN.
If you Do Not Do thIS, thE SyStEM MAy Not opERAtE pRopERly.
Communication example (16 daisy-chained controllers)
Transmission
@SETID c/r l/f
c
CAutIoN
If you receive several identical responses, there is a duplication of node number.
[Example] When reading the node number (k38) from all the nodes by query command
transmission
@?k38 c/r l/f
In this case, be sure to perform automatic node number setting.
Response
Performs automatic node number setting
OK.1 c/r l/f
Node number 1 setting end
OK.2 c/r l/f
Node number 2 setting end
:
OK.16 c/r l/f
Node number 16 setting end
Response
k38.1=1 c/r l/f
ok.1 c/r l/f
k38.2=2 c/r l/f
ok.2 c/r l/f
Duplication
k38.2=2 c/r l/f
ok.2 c/r l/f
B
B-13

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