IAI PSEL, Operation Manual

Page: 209 / 1062

199
Part 2 Programs
1.16 System Information Acquisition
z
AXST (Get axis status)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional AXST
Variable
number
Axis
number
CP
[Function] Store in the variable specified in operand 1 the status (axis error number) of the axis
specified in operand 2.
(Note 1) If the obtained result is “0,” it means no axis error is present.
(Note 2) Since the error lists are written in hexadecimals, they must be converted to decimals.
[Example] AXST 1 2 Read the error number for axis 2 to variable 1.
If 3188 (decimal) is stored in variable 1 after the execution of this command:
3188
y
16 = 199 ,,,4
199
y
16 = 12 (= C) ,,,7
3188 = 12 (= C) X 16
2
+ 7 X 16
2
+ 4
= C74 (HEX) (Hexadecimal number)
Therefore, an “Error No. C74, Actual-position soft limit over error” is present.