2.2 Command Header Section of Main Command Area
2.2.4 Command Status (CMD_STAT)
2
Command Format
2-9
RCMD_ID
Definition
This is the echo-back of the CMD_ID in the CMD_CTRL field of the command data.
Description
•
This is the identification code of the same commands that the slave station has received con-
tiguously.
•
Returns the CMD_ID of the command format.
CMD_ALM
Definition
This bit indicates the validation result of the command.
Description
•
CMD_ALM indicates whether the command is valid or not. The results of validations of the
command codes, and the combinations of commands and the data in the command frame
are notified.
•
CMD_ALM is independent of COMM_ALM, D_ALM and D_WAR.
•
If a normal command is received after the occurrence of a command error, CMD_ALM is
automatically cleared.
•
The phase doesn
'
t change even if the status of CMD_ALM is not "0." The servo ON/OFF
state doesn
'
t change either.
Code
Description
Remark
Normal
0
Normal
–
Warning
1
Invalid data
The slave station notifies the warning state, but oper-
ates at the specified value or the value on clamping at
the maximum or minimum value.
2
–
3
–
4
–
5
–
6
–
7
–
Alarm
8
Unsupported command
received
The slave station notifies the alarm state and the com-
mand is not executed.
9
Invalid data
A
Command execution condi-
tion error
B
Subcommand combination
error
C
Phase error
D
–
E
–
F
–
Command error: Data Setting Warning 2 (A.94B)
→
CMD_ALM = 9h
Check the status of CMD_ALM with the host controller for every communication cycle and per-
form appropriate processing because CMD_ALM will be automatically cleared.
Example
Important
