IAI America ROBO Cylinder Series - Manual (Page 51)

4. Communication
43
Modbus
(12) Data of device status register 1 (Address = 9005
H
) (DSS1)
Bit Symbol Name Function
15 EMGS EMG status 0: Emergency stop not actuated
1: Emergency stop actuated
This bit indicates whether or not the controller is currently in the emergency stop mode due to
an emergency stop input, cutoff of the drive source, etc.
14 SFTY Safety speed enabled
status
0: Safety status disabled
1: Safety status enabled
Enable/disable the safety speed of the controller using the “safety speed command bit” of
device control register 1.
13 PWR Controller ready status 0: Controller busy
1: Controller ready
This bit indicates whether or not the controller can be controlled externally. Normally this bit
does not become 0 (busy).
12 SV Servo ON status 0: Servo OFF
1: Servo ON
The servo ON status is indicated. After a servo ON command is issued, this bit will remain 0
until the servo ON delay time set by a parameter elapses.
If the servo cannot be turned ON for some reason even after a servo ON command is
received, this bit will remain 0.
The RC controller does not accept any movement command while this bit is 0.
11 PSFL Missed work part in
push-motion operation
0: Normal
1: Missed work part in push-motion operation
This bit turns 1 when the actuator has moved to the end of the push band without contacting
the work part (= the actuator has missed the work part) according to a push-motion operation
command.
Operation commands other than push-motion do not change this bit.
10 ALMH Major failure status 0: Normal
1: Major failure alarm present
This bit will turn 1 if any alarm at the cold start level or operation cancellation level is
generated.
Alarms at the operation cancellation level can be reset by using an alarm reset command, but
resetting alarms at the cold start level requires turning the power supply off and then on
again.
9 ALML Minor failure status 0: Normal
1: Minor failure alarm present
This bit will turn 1 when a message level alarm is generated.
8 ABER Absolute error status 0: Normal
1: Absolute error present
This bit will turn 1 if an absolute error occurs in case the absolute specification is set.
7 BKRL Brake forced-release
status
0: Brake actuated
1: Brake released
This bit indicates the status of brake operation. Normally the bit remains 1 while the servo is
ON. Even when the servo is OFF, changing the “brake forced-release command bit” in device
control register 1 to 1 will change this bit to 1.
6 - Cannot be used
5 STP Pause status 0: Normal
1: Pause command active
This bit remains 1 while a pause command is input.
If the PIO/Modbus Switch Setting (5.4.16 or 6.5.16) is PIO enabled, paused PIO signals are
monitored (set the switch to AUTO in case of RC controllers with a mode toggle switch). If
Modbus is enabled, the Pause Commands (5.4.6 or 6.5.6) are monitored.
4 HEND Home return
completion status
0: Home return not yet complete
1: Home return complete
This bit will become 1 when home return is completed. In case the absolute specification is
set, the bit is set to 1 from the startup if absolute reset has been completed.
If a movement command is issued while this bit is 0, an alarm will generate.
3 PEND Position complete
status
0: Positioning not yet complete
1: Position complete
This bit turns 1 when the actuator has moved close enough the target position and entered
the positioning band. It also turns 1 when the servo turns on after the actuator has started,
because the controller recognizes that the actuator has completed a positioning to the current
position.
This bit will also become 1 during the push-motion operation as well as at the completion.
2 CEND Load cell calibration
complete
0: Calibration not yet complete
1: Calibration complete
This bit turns 1 when the load cell calibration command (CLBR) has been successfully
executed.
1 CLBS Load cell calibration
status
0: Calibration not yet complete
1: Calibration complete
Regardless of whether or not a load cell calibration command has been issued, this bit is 1 as
long as a calibration has completed in the past.
0 - Cannot be used