2.2 Command Header Section of Main Command Area
2.2.4 Command Status (CMD_STAT)
2-8
D_WAR
Definition
This bit indicates the device warning state of the slave station.
1: A device-specific warning has occurred.
0: Other state (normal state, or the alarm specified by COMM_ALM or CMD_ALM has
occurred.)
Description
•
When a device-specific warning other than the warning state specified by COMM_ALM or
CMD_ALM has occurred, the D_WAR status bit is set to "1."
D_WAR is independent of COMM_ALM and CMD_ALM.
•
When a device-specific warning has occurred and the D_WAR status bit is set to "1" in the
servo ON state, the servo ON state is retained.
•
When the slave station shifts from the device warning state to the normal state as a result of
the execution of the ALM_CLR command or CMD_CTRL.ALM_CLR, this bit is set to "0."
CMDRDY
Definition
This bit indicates whether the slave station is ready to receive commands.
1: Command reception enabled
0: Command reception disabled
Description
•
CMDRDY = 0 means that command processing is in progress. While CMDRDY = 0, the slave
station continues to process the current command, but the slave station will discard new
commands received while CMDRDY = 0.
Only the DISCONNECT command is executed immediately regardless of the CMDRDY value.
•
Completion of command execution is confirmed in accordance with the completion confirma-
tion method of each command.
•
The hold time for CMDRDY = 0 is specified for each command.
•
If command execution is possible despite an alarm or warning state, CMDRDY is set to "1."
ALM_CLR_CMP
Definition
This bit indicates the execution state of the ALM_CLR command.
1: Execution of the ALM_CLR command (CMD_CTRL.ALM_CLR) completed
0: Other
Description
•
ALM_CLR_CMP is set to "1" in the following cases.
•
When the alarm clear processing executed by the ALM_CLR command has been com-
pleted
ALM_CLR_CMP is set to "1" when the alarm cannot be cleared as well.
•
When the alarm clear processing time (approx. 200 ms) has elapsed after receiving the
ALM_CLR command.
ALM_CLR_CMP is set to "1" when the alarm cannot be cleared as well.
•
ALM_CLR_CMP can be cancelled by setting "0" for CMD_CTRL.ALM_CLR.
Device warning: Overload (A.910)
→
D_WAR = 1
Example