B
Communication Command Guide
B-16
Status data reading (?D)
Format
@?D<status number>[.<node number>] c/r l/f
Meaning
Reads specified status information.
Function
Reads the status information, such as current position or speed.
Setting
<Status number> : 0 to 20 (See the table below.)
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
with the host device, as by daisy chain connection.)
Data number and type of status information
n
Number
Name
Unit
Contents
0
Current position
Other than TS-P : 0.01mm
TS-P
: 0.001mm
Current position information
1
Current speed
0.01mm/s
Actual speed information
2
Electrical current
%
Percentage of electrical current to rated current
6
Position command
Other than TS-P : 0.01mm
TS-P
: 0.001mm
Position command information currently running
7
Speed command
0.01mm/s
Speed command information currently running
9
Voltage value
0.1V
Motor drive voltage
10
Temperature
°C
Temperature of motor drive module
13
Current point number
-
Point number of positioning operation currently running
14
Load rate
%
Overload error occurs if the load rate reaches 100%.
17
Machine reference
%
Machine reference
(See the explanation on Machine reference stated in Chapter 5,
section 2.3, "Origin point and coordinates relationship" of the
Controller Guide.)
18
Operation status
-
Value
Meaning
-1
Return-to-origin is being executed.
0
Stopping
1
Operation
type
ABS
2
INC
3
ABS merge
4
INC merge
5
ABS push
6
INC push
7
ABS deceleration push
8
INC deceleration push
Communication example
Transmission
Response
@?D0.1 c/r l/f
Reads the information on status number 0 (current position).
D0.1=32000 c/r l/f
Receives the data.
OK.1 c/r l/f
Normal end
