T-Series/Commands/Set Message Id Mode
Set Message Id Mode - Cmd 102
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| Instruction Name | Set Message Id Mode |
|---|---|
| Applies to | A-Series devices |
| Firmware Version | 6.xx |
| Command Number | 102 |
| Command Type | Setting |
| Command Data | Message Id Mode |
| Reply Data | Message Id Mode |
| Safe to retry? | Yes |
| Returns Current Position? | No |
| Persistence | Non-Volatile |
| Summary | Enable message ids in device communication. |
When message id is enabled, only bytes 3 through 5 in the command requests and responses are used for data. Byte 6 is used as an id byte that the user can set to any value they wish. When the device receives a command request with a certain id byte, it will reply with a command response containing the same id byte. This allows the user application to monitor communication packets individually to implement error detection and recovery.
- 0 - Message Id Disabled (Default)
- All 4 data bytes are used for data
- 1 - Message Id Enabled
- Only bytes 3 through 5 are used for data. Byte 6 is used as an id byte. Device always responds with a message id corresponding to that in the command request.
- A device will not reply with the same message id more than once, unless user issues two commands with identical message id.
- For any reply that is not a result of a user request, message id 0 is used. (e.g. Manual Move Tracking)
- NOTE: When message id is enabled, data range is limited to 3 bytes (24 bits). Thus, commands with data value more than 24 bit range might not behave properly.
This setting is identical to bit 6 of Set Device Mode (Cmd 40). Changes to either this setting or the device mode will be reflected in the other.
This setting is stored in non-volatile memory and will persist after power-down or reset.
- Example
- requests -> (id 01) Move Absolute 10000 [device starts to move]
- requests -> (id 02) Return Status [request device status]
- <- responds (id 02) Return Status ( 20 ) [device replies with message id corresponding to the request (id 02)]
- <- responds (id 01) Move Absolute 10000 [when movement is completed, device replies with id 01 which corresponds to the request.]
