IAI America TTA - Manual (Page 27)

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4-3-12. Axis Status Query (212H)
Function: Query the axis status
Data name
Data range
(value)
Data size
[bytes]
Cumulative bytes
[bytes]
Endian Sign extension
Unit Description Remarks
Big Little Yes No
Command
Header '!' 1 1  
Station 'XX(h)' 2 3  
Message ID '212(h)' 3 6  
Query axis pattern 'XX(h)' 2 8  
SC 'XX(h)' 2 10  
CR 0Dh 1 11  
LF 0Ah 1 12  
Normal
re
spon
se
Header '#' 1 1  
Station 'XX(h)' 2 3  
Message ID '212(h)' 3 6  
Axis pattern 'XX(h)' 2 8  
No axis pattern is
the same as “driver
not connected.”
Single-a
x
is sta
tu
s
(
*1)
Axis status 'XX(h)' 2 10  
Bit 6, 7 (Reserved for system use)
Bit 5 (Push error detection): 0 = Not detected / 1 = Detected
Bit 4 (Operation command successful completion): 0: Not yet
complete / 1 = Completed successfully
* Can be used only for completion check after an operation command.
Bit 3 (Servo): 0 = OFF / 1 = ON
Bit 1, 2 (Home return): 0 = Not yet performed / 1 = Returning to home /
2 = Completed
Bit 0 (Servo axis in use): 0 = Not in use / 1 = In use (moving, etc.)
* “Servo axis in use” indicates that a given task has the right to use the
applicable axis. Therefore, this bit will turn ON not only when an
operation command involving axis movement is in progress
(including when an axis is moving), but also in the following
conditions:
• Servo is starting up from an OFF state
• Servo is shutting down from an ON state (excluding emergency
stop)
• Operation axis is paused
* Check method for operation command positioning under IAI protocol
After an IAI-protocol operation command is executed, turning OFF
(Not in use) of bit 0 (Servo axis in use) will be monitored for the
applicable axis.
When “Not in use” is detected, the cause will be checked based on the
conditions of bit 4 (Operation command successful completion) and
bit 5 (Push error detection) (three causes are shown below):
(1) [Bit 0 (Servo axis in use) = OFF] AND [Bit 4 (Operation command
successful completion) = ON]
--- Positioning has completed successfully.
(2) [Bit 0 (Servo axis in use) = OFF] AND [Bit 5 (Push error detection)
= ON]
--- Push error (* Need not be checked if push command is not
used.)
(3) [Bit 0 (Servo axis in use) = OFF] AND [bit 4 (Operation command
successful completion) = OFF] AND [Bit 5 (Push error detection) =
OFF]
--- Operation cancellation due to error, emergency stop, etc.