IAI America PCON-CFA - Manual (Page 215)

5. Flow and Commands of Basic MECHA
TROLINK Communication
207
 ALARM
Fields
One of the following error codes is set according to the communication status.
Error
code
Meaning/Name Description/Cause
Occurrence
phase
Transition
destination
phase
STATUS.ALM
/.WARNG
00H Normal communication
01H Invalid Command Command that cannot be used P1,2,4 As is WARNG
02H Command Not Allowed
Command not consistent with
the communication phase
P2 As is WARNG
03H Invalid Data
Data in the command is not
valid.
y Data outside of the setting
range
y Data outside of the
allowable range
y Data that is not supported
P2 As is WARNG
œ STATUS
Fields
The current status of the slave is set.
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 BIT8
ERR_CODE
BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
ERR Not used CMDRDY WARNG ALARM
Name Value
Description
ERR-CODE
If there is a controller error, check the error code in the troubleshooting section of
the operation manual for the controller unit, and take necessary actions.
1
A controller error is present.
Refer to the ERR-CODE fields.
ERR
0 Operating properly
1 A command can be received.
CMDRDY
0
Busy condition
Commands received are discarded.
1
Minor trouble
Check if the command can be used in the current phase.
WARNG
0 Operating properly
1
A communication error is present.
Communication error, communication part failure, or operational trouble or error
ALARM
0 Operating properly