Yaskawa SMC–4000 - Manual (Page 262)

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SMC–4000 User Manual
_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
_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
_PF Encoder position format (see PF command) configuration -8.4 10.4 10.4
_PRx Current incremental distance to move (Even if move set by PA) counts -2147483648 2147483647 0
_QAx The unmodularized position of the aux encoder counts -2147483648 2147483647 n/a
_QPx The unmodularized position of the main encoder counts -2147483648 2147483647
_RC Status of record mode status 0= NOT
RECORDING
1=RECORDING 0= NOT
RECORDING
_RD Array index that record mode will use next index 0 7999 0
_RLx Encoder value of last latched position counts -2147483648 2147483647 0
_RPx Current commanded position of the motor counts -2147483648 2147483647 0
_RUx The unmodularized latch of the main encoder counts -2147483648 2147483647 n/a
_SCx The Stop Code of the axis code 0 150 1
_SPx Speed parameter of the axis counts/sec 0 8000000 25000
_TB Status information from controller byte 0 255 1
_TC1 Error code and message from controller number 0 255 0
_TDx Current auxiliary encoder position counts -2147483648 2147483647 n/a
_TEx Difference between commanded & actual axis position counts -2147483648 2147483647 n/a
SMC–4000 Command Interrogation List
Command Definition units min max default