Yaskawa LEGEND-MC - Manual (Page 256)

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LEGEND-MC User’s Manual
Command Definition units min max default
_IA Returns the IP address as a 32 bit signed
number address 0 2147483647 0
_IA1 Returns the Ethernet retry time mSec 0 2147483647 250
_IA2 Returns the number of available handles handles 0 6 6
_IA3 Returns the number of the handle using this
operand handle 0 5 n/a
_IHh0 Returns the IP address as a 32 bit signed
number ("h" is handle "A" - "P") address -2147483648 2147483647 -1
_IHh1 Returns the slave port number number 0 65535 0
_IHh2 Returns the handle status (See IH command
description) status -2 2 0
_IHh3 Returns ARP status status 0 = Successful 1 = Failed n/a
_II Returns the bitmask of all inputs that are
selected as interrupts configuration 0 127 0
_ILx Integrator limit of the axis voltage -9.9988 9.9988 9.9988
_IPX Current encoder position of axis counts -2147483648 2147483647 n/a
_ITx S curve smoothing function value constant 0.004 1 1
_JGx Jog speed for that axis counts/sec 0 8000000 25000
_KDx Derivative Constant for PID loop constant 0 4095.875 64
_KIx Integrator for PID loop constant 0 2047.875 0
_KPx Proportional Constant for PID loop constant 0 1023.875 6
_LC Status of Lock Controller command configuration 0 = UNLOCKED 2 = ALL LOCKED 0-Jan
_LE Length of the vector counts 0 2147483647 0
_LFx Forward Limit Switch status 0 = ACTIVE 1 = INACTIVE n/a
_LM Number of free locations in linear mode
buffer n/a 0 511 n/a
_LRx Reverse Limit Switch status 0 = ACTIVE 1 = INACTIVE n/a
_LS The total number of program lines lines 0 999 0
_LTx Stop distance set in the Latch Target
Command counts -2147483648 2147483647 0
_LZ Serial port leading zero removal status 0 = OFF 1 = ON 0
_MW Returns the current configuration of the
Modbus Wait Command configuration 0 = OFF 1 = ON 1
_MOx Current state of motor, enabled or not status 0=ENABLED 1=DISABLED 0 / 1
_MTx Type of motor configuration -1 1 1
_NBx Returns the Notch Filter Bandwidth Hertz 0 62 0.5
_NFx Returns the Notch Frequency Hertz 0 255 0
_NZx Returns the Notch Zero Hertz 0 62 0
_OCx Returns the state of the Output Compare
Function status 0 1 n/a
_ODx Returns the state of the Output Compare
Function Auxiliary Encoder status 0 1 n/a
_OEx Indicates if servo enable signal will shut off if
"_Erx" is exceeded status 0=NO 1=YES 0=NO
_OFx Axis command offset voltage -9.9988 9.9988 0
_OPx Entire byte or word of output port (x = output
bank 0-3) byte or word 0 65535 0
P1CD Status code of serial port status -1 3 n/a
P1CH The last character received from serial port character 0 255 n/a
P1NM The last number received from serial port number -2147483648 2147483647 n/a
P1ST The last string received from serial port string 6 chars max n/a
_PAx Last commanded absolute position if
moving, otherwise current position counts -2147483648 2147483647 0