Yaskawa FSP Amplifier FlexWorks - Manual (Page 214)

Serial Interface Protocol
214
MOVE Command
Example of response message to MOVE <600> <1000> command
(600uu in 1000 ms), of axis 0 in Sequential mode, with message
identification of 0x96 when control is off. Because a motion cannot
be executed when CONTROL_OFF, fault 0x8C occurs.
Master Message Format:
N A M I D 1 I D 2 C1 C2 V1 V2 P1 P2 P3 P4 P5 P6
N 0 B 9 6 7 1 0 0 0 0 0 0 0 2
→
P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 S1 S2
→
5 8 0 0 0 0 0 3 E 8 A 9
Response Message Format in case of fault:
CR N A M I D 1 I D 2 F1 F2 SW1 SW2 SW3 SW4
CR N 0 1 9 6 8 C 0 4 3 3
→
S1 S2 CR
→
A 6 CR
Where:
A = 0 Axis number 0
m = 1 Response type is acknowledged with Fault.
ID1 = 9; Id2 = 6 Because of fault message identification, Id1
and Id2 contain the same value as master
message identification.
F1 = 8; F2 = C Fault code.
SW1=0; SW2=4;
SW3=3; SW4=3 Shows FSP Amplifier status. No emergency,
no fault (Status word fault only represents
FSP Amplifier hardware faults marked as
A.##), control off and in position (see
Chapter 10, List of Status Word Bits).
S1=A; S2=6 0x100–(0x01+0x96+0x8C+0x04+0x33)=
0xA6.