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應用程式函式庫
v2.0
191
D1, 0 n-DRV Displaying driving status of each axis When the bit is 1, the
axis is an outputting drive pulse. ; when the bit is 0, the driving of the axis is
finished. Once the in-position input signal nINPOS for servomotor is active,
nINPOS will return to 0 after the drive pulse output is finished.
D5, 4 n-ERR Displaying error status of each axis If any of the error bits
(D6~D0) of each axis’s RR2 register and any of the error-finish bits
(D15~D12) of each axis’ s RR1 register becomes 1, this bit will become 1.
D8 I-DRV
Displaying interpolation driving status While the interpolation
drive pulses are outputting, the bit is 1.
D9 CNEXT Displaying the possibility of continuous interpolation data
writing When the bit is 1, it is ready for inputting parameters for next node
and also ready for writing interpolation command data.
D12 ~ 10 ZONEm Displaying the quadrant of the current position in circular
interpolation
D12
D11
D10
Quadrant
0
0
0
0
0
0
1
1
0
1
0
2
0
1
1
3
1
0
0
4
1
0
1
5
1
1
0
6
1
1
1 7
D14,13 BPSC1,0 In bit pattern interpolation driving, it displays the value of
the stack counter (SC).
In bit pattern interpolation driving, when SC = 3, it shows the stack is full.
When SC = 2, there is one word (16-bit) space for each axis. When SC = 1,
there is a 2-word (16-bit × 2) for each axis. When SC = 0, it shows all the
stacks are empty, and the bit-pattern interpolation is finished.
B.9 Status Register 1: RR1
Each axis is with status register 1. The axis specified by NOP command or
the condition before decides which axis’ s register will be read.
The register can display the comparison result between logical / real
position counter and COMP +/
−
, the acceleration status of acceleration /
deceleration driving, jerk of S-curve acceleration / deceleration and the
status of driving finishing.
