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158
System Variables
Section 4-5
Command Code in
Command Execution
Status
In the system parameter Command execution status (SW0228 for axis 1), one
of the command codes in the table below will be displayed.
They are used to monitor the execution status of the operation in the program.
Note
With Target Position Change command (MOVEMODI), the command code of
MOVE or MOVEL in the previous block is maintained.
MECHATROLINK-II Servo
Status
The system parameter MECHATROLINK-II servo status (SW021C, SW021D
for axis 1) shows the status of the servo driver.
Axis addresses are calculated using the following equation.
Axis i Servo status address 1 (hexadecimal) = SW021C (Hex) + 30 (Hex)
×
(i
−
1)
Axis i Servo status address 2 (hexadecimal) = SW021D (Hex) + 30 (Hex)
×
(i
−
1)
i = 1 to 32
Examples: Axis 2 axis Servo status address 1 (hexadecimal) = SW021C
(Hex) + 30 (Hex)
×
(2
−
1) = SW024C (Hex)
Axis 2 axis Servo status address 2 (hexadecimal) = SW021D
(Hex) + 30 (Hex)
×
(2
−
1) = SW024D (Hex)
Classification
Command name
Command
Code
Remark
No operation
Not executing
---
0000h
Axis movement
Positioning
MOVE
0001h
Linear interpolation
MOVEL
0002h
Circular interpolation
MOVEC
0003h
Origin search
DATUM
0004h
Interrupt feeding
MOVEI
0005h
Time-specified positioning
MOVET
0006h
Traverse
MOVETRAV
0007h
Electronic CAM single axis
CAM
0008h
Axis operation
Link operation
MOVELINK
0015h
Electronic CAM Synchronous
CAMBOX
0016h
Electronic shaft
CONNECT
0017h
Trailing synchronization
SYNC
0018h
Travel distance superimpose
ADDAX
0019h
Speed command
SPEED
001Ah
Torque command
TORQUE
001Bh
Axis operation
end
Synchronization end
SYNCR
0029h
If there is no travel distance specifica-
tion, the code of the synchronous com-
mand code is maintained.
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