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68
5-2
Status Word Allocations
The PC uses the Intelligent I/O Read instruction READ(88) to read status
from the Position Control Unit. Refer to the end of
4-2 PC Programs
for the
READ(88) format. Data word allocations are summarized as follows:
Interpo-
lating
Circular
Arc
Interpo-
lating
Error
Hard-
ware
Error
Teach-
ing
Box
Ready
Constant
Speed
X–Y
common area
Error code (101 digit)
Error code (100 digit)
Error-related OP code
(leftmost digit)
Error-related OP code
(middle digit)
Error-related OP code
(rightmost digit)
Number of error-related OP
codes
BCD (107 digit)
BCD (106 digit)
BCD (105 digit)
BCD (104 digit)
BCD (103 digit)
BCD (102 digit)
BCD (101 digit)
BCD (100 digit)
M code (101 digit)
M code (100 digit)
Multiplier: 1, 2, 4
Current positioning action ad-
dress (102 digit)
Current positioning action ad-
dress (101 digit)
Current positioning action ad-
dress (100 digit)
Current speed address
(101 digit)
Current speed address
(100 digit)
Override coefficient
(101 digit)
Override coefficient
(100 digit)
Com-
mand
Ready
PCU
Ready
Teach-
ing
Box
Con-
nected
External
Display
Con-
nected
PC
Commu-
nications
Disabled
Interpo-
lating
Straight
Line
Reading
EE-
PROM
Writing
EE-
PROM
EE-
PROM
Write
Com-
pleted
Speeds
Cleared
Commu-
nications
Error
Y-axis
System
Error
X-axis
System
Error
System
/data
Pro-
cessing
Error
Y-axis
Com-
mand
Error
X-axis
Com-
mand
Error
Parame-
ters En-
abled
Origin
Set
Parame-
ters
Cleared
Posi-
tioning
Data
Cleared
Home
Shift
Override
Dwelling Position-
ing Com-
pleted
Origin
search
Inching
Jogging
Position-
ing
Stop
Pause
Emer-
gency
Stop
Current
Position
Sign
CW
Move-
ment
CCW
Move-
ment
Accel-
erating
Deceler-
ating
In Posi-
tion
Accel-
eration
Zone
Decel-
eration
Zone
Origin
OUT2
Output
OUT1
Output
CWLS
Input
CCWLS
Input
External
Interrupt
External
Emer-
gency
Stop
Origin
Input
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
Wd
Bit
System status flags
Error code and system error status flags
Error codes
Status flags (1)
Status flags (2)
Current position (leftmost digits)
Current position (rightmost digits)
M code
Multiplier/Current positioning action address
Current speed address/Override coefficient
X-axis area
D + 0
D + 1
D + 2
D + 3
D + 4
D + 5
D + 6
D + 7
D + 8
D + 9
Data
read
comple-
tion
Status Word Allocations
Section 5-2