Modbus – IAI America ROBO Cylinder Series User Manual

Page 53

4. Communication

Modbus

(14) Data of expansion device status register (Address = 9007

) (DSSE)

Bit

Symbol

Name

Function

EMGP

Emergency stop status 0: Emergency stop input OFF

1: Emergency stop input ON

This bit indicates the status of the emergency stop input port.

MPUV

Motor voltage low status 0: Normal

1: Motor drive source cut off

This bit becomes 1 if there is no input from the motor drive power supply.

RMDS

Operation mode status 0: AUTO mode

1: MANU mode

This bit becomes 1 when the RC controller is in the MANU mode.

Note that the controller is always in the MANU mode in cases of models not

equipped with an operation mode switch (ERC2, PCON-SE, ACON-SE,

PCON-CY and ACON-CY).

Cannot be used

GHMS

Home return status

0: Normal

1: Home return

This bit remains 1 for as long as home return is in progress. This bit will be 0

in other cases.

PUSH

Push-motion operation

in progress

0: Normal

1: Push-motion operation in progress

This bit remains 1 while the actuator is performing a push-motion operation

(excluding an approach operation. It will turn 0 under the following

conditions:

1. The actuator has missed the push motion operation.

2. The actuator has paused.

3. The next movement command has been issued.

4. The servo has turned OFF.

PSNS

Excitation detection

status

0: Excitation detection not yet complete

1: Excitation detection complete

PCON/ERC2, ERC3 Series controllers perform excitation detection at the

first servo ON command received after the controller has started. This bit

becomes 1 when excitation detection is completed.

This bit remains 0 if the excitation detection has failed. Even after a

successful detection, the bit will return to 0 when a software reset is

performed.

This bit becomes 1 if pole sensing is performed with the first servo ON

command after startup and the operation is completed in case of ACON

series controllers.

On SCON Series controllers, this bit is always 0.

PMSS

PIO/Modbus switching

status

0: PIO commands enabled

1: PIO command disabled

The result of switching according to the PIO/Modbus switching setting

explained in 5.4.16 or 6.5.16, or the current status, is indicated.

Cannot be used

MOVE

Moving signal

0: Stopped

1: Moving

This bit indicates whether or not the actuator is moving (conditions during

home return and push-motion operation included). This bit remains 0 while

the actuator is paused.

Cannot be used