Yaskawa LEGEND-MC - Manual (Page 255)

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LEGEND-MC User’s Manual
SMC3010 COMMAND INTERROGATION LIST (1.0c firmware & up)
Command Definition units min max default
_AB Status of abort input status 0=Aborted 1=OK n/a
_ACx Axis acceleration rate counts/sec 2 1024 67107840 256000
_AFx Analog or digital feedback? status 0=DIGITAL 1=ANALOG 0
_ALx High speed position capture status status 0=TRIPPED 1=NOT YET 0
_AV Distance from the start of vector sequence counts 0 2147483647 0
_BGx Is axis in motion? status 0=NO 1=YES 0=NO
_BLx Reverse software limit counts -2147483648 2147483647 -2147483648
_BN Serial number of the SMC3010 n/a 1 65535 n/a
_CEx Type of encoder selected configuration 0 15 0
_CF Returns the default port that unsolicited
messages are directed to (ASCII) configuration 65 = 'A' 83 = 'S' 83 = 'S'
_CM Is the contour mode buffer full? status 0=NO 1=YES 0=NO
_CN Returns the configuration of the limit
switches configuration -1 = Active Low 1 = Active High -1 = Active Low
_CN1 Returns the configuration of the home input configuration -1 = Active Low 1 = Active High -1 = Active Low
_CN2 Returns the configuration of the latch input configuration -1 = Active Low 1 = Active High -1 = Active Low
_CS Current segment number for Vector Mode segment 0 511 0
_CW Port #1 data adjustment (MG from prog,
chars have bit 8 set) status 1=SET 2=OFF 2=OFF
_DA Number of available arrays quantity 0 14 14
_DB State of Dynamic Brake Setting configuration 0 = OFF 1 = ON 1
_DCx Axis deceleration rate counts/sec 2 1024 67107840 256000
_DEx Encoder position of the auxiliary encoder counts -2147483648 2147483647 n/a
_DL Number of available labels quantity 0 254 254
_DM Number of available array locations quantity 0 2000 2000
_DPx Current encoder position of axis counts -2147483648 2147483647 n/a
_DT Time interval for contour mode 2 N mSec 0 8 0
_DVx Is the axis using dual loop PID? status 0=NO 1=YES 0=NO
_EB Is CAM mode enabled? status 0=NO 1=YES 0=NO
_EC returns the current index into the cam table pointer 0 359 0
_ED The last line that caused a CMDERR line number 0 999 n/a
_EGx Is CAMMING axis engaged? status 0=NO 1=YES 0=NO
_EMx Cam cycle for camming (master or slave) counts 0 2147483647 0
_EO Is echo mode on? status 0=NO 1=YES 0=NO
_EP CAMMING interval (resolution) counts 1 32767 256
_EQx Status of ECAM slave status 0 3 0
_ERx Axis following error limit counts 0 32767 16384
_ES Ellipse scale ratio n/a 0.0001 1 1
_FAx Axis acceleration feedforward constant 0 8191 0
_FLx Forward software limit counts -2147483648 2147483647 2147483647
_FVx Axis velocity feedforward constant 0 8191 0
_GRx Gear ratio of the axis constant -127.9999 127.9999 0
_HC Status of Handle Connect Command status 0 = FAIL 2 = SUCCESS 0
_HMx State of the home switch status 0=ACTIVE 1=INACTIVE n/a
_HR Configuration of Handle Restore Command configuration 0 = OFF 1 = SET 0
_HW Configuration of Handle Wait Command configuration 0 = OFF 1 = SET 1
_HXx Thread info (x is thread 0 through 3) 0=NOT 1=RUNNING 2=AT TRIPPOINT n/a