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Data
Section 3-3
63
3-3-1-2 Status data
Status words
n
+1 and
n
+2 return the status of the CJ1W-MCH72. The table
below lists the layout of these status words.
/i
Status words
n
+3..
n
+13 return the status of the axes and processes of the
CJ1W-MCH72.
/i
Word
Bit
Description
Value
Function
n
+1
0
Unit operational
0
Unit not operational
1
Unit operational
1
Watchdog on
0
Axes watchdog off
1
Axes watchdog on
2..7
N/A
Always 0
8
Program execution
enabled
Feedback of word n, bit 0
9
Axes watchdog
enabled
Feedback of word n, bit 1
10
Deceleration active
Feedback of word n, bit 2
11
Outputs enabled
Feedback of word n, bit 3
12..15 N/A
Always 0
n
+2
0
MECHATROLINK-II
error
0
No MECHATROLINK-II error
1
Error on MECHATROLINK-II bus
1
Axes error
0
No axes error
1
Axes error (See control and status
words n+7 and n+8)
2
BASIC error
0
No BASIC error
1
BASIC error for a running process
3
Battery error
0
Battery OK
1
Battery low or empty
4..15 N/A
Always 0
Word
Bit
Description
n
+3
0..15
Servo On flags for axes 0..15
n
+4
0..15
Servo On flags for axes 16..31
n
+5
0..15
Axis Enable flags for axes 0..15
n
+6
0..15
Axis Enable flags for axes 16..31
n
+7
0..15
Axis Error flags for axes 0..15
n
+8
0..15
Axis Error flags for axes 16..31
n
+9
0..15
Axis In Commissioning Mode flags for axes 0..15
n
+10
0..15
Axis In Commissioning Mode flags for axes 16..31
n
+11
0..13
Process Running flags for processes 1..14
14,15
Always 0
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
Страница 373: ...362...