Qz (return data record information) command – Yaskawa SMC–4000 User Manual
Page 196
186
SMC–4000 User Manual
General Status Information (1 Byte)
Axis Switch Information (1 Byte)
Axis Status Information (2 Byte)
Coordinated Motion Status Information for S or T plane (2 Byte)
Notes Regarding Velocity and Torque Information
The velocity information that is returned in the data record is 64 times larger than the value returned when
using the
command. See command reference for more information about TV. The Torque
information is represented as a number in the range of +/-32767. Maximum negative torque is -32767.
Maximum positive torque is 32767. Zero torque is 0.
QZ (Return Data Record Information)
Command
The QZ command can be very useful when using the QR command, since it provides information about the
controller and the data record. The QZ command returns the following 4 bytes of
information.
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Program
Running
N/A
N/A
N/A
N/A
Waiting for
input from
command
Trace On
Echo On
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Latch
Occurred
State of Latch
Input
N/A
N/A
State of
Forward Limit
State of Reverse
Limit
State of Home
Input
SM Jumper
Installed
BIT 15
BIT 14
BIT 13
BIT 12
BIT 11
BIT 10
BIT 9
BIT 8
Move in Progress Mode of
Motion
Mode of
Motion
only
in Progress
Progress
1st Phase of
complete
2
nd
Phase of
command
issued
Mode of
Motion Coord.
Motion
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Negative
Direction Move
Mode of
Motion
Contour
Motion is
slewing
Motion is
stopping due to
or
Limit Switch
Motion is
making final
decel.
Latch is armed
Off-On-Error
occurred
Motor Off
BIT 15
BIT 14
BIT 13
BIT 12
BIT 11
BIT 10
BIT 9
BIT 8
Move in Progress N/A
N/A
N/A
N/A
N/A
N/A
N/A
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
N/A
N/A
Motion is
slewing
Motion is
stopping due to
or
Limit Switch
Motion is
making final
decel.
N/A
N/A
N/A
BYTE #
INFORMATION
0
Number of axes present
1
number of bytes in general block of data record
2
number of bytes in coordinate plane block of data
record
3
Number of Bytes in each axis block of data record