Oriental motor NETC01-M3, Руководство пользователя

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Details of command
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Command status (CMD_STAT)
The bit fields of the CMD_STAT are shown in the table below.
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
RCMD_ID Reserved Reserved
ALM_CLR_
CMP
CMDRDY D_WAR D_ALM
bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8
COMM_ALM CMD_ALM
Explanation of bit field
Bit field Definition Description
D_ALM
0: No alarm
1: The NETC01-M3 is in the
alarm state
This is a bit that indicates the alarm state of the
NETC01-M3 . When the specific alarm of the NETC01-M3
occurs, the D_ALM status bit is set to 1 (D_ALM=1) [Except
for the COMM_ALM, CMD_ALM and MECHATROLINK-
Ⅲ
communication error].
The D_ALM is independent of the COMM_ALM and CMD_
ALM. When the
NETC01-M3 shifts from the alarm state to
the normal state as a result of the execution of the ALM_
CLR command, this bit is set to 0 (D_ALM=0).
D_WAR
0: No warning
1: The NETC01-M3 is in the
warning state
This is a bit that indicates the warning state of the
NETC01-M3 . When the specific warning of the
NETC01-M3 occurs, the D_WAR status bit is set to 1 (D_
WAR=1) [Except for the COMM_ALM, CMD_ALM and
MECHATROLINK-
Ⅲ communication error].
The D_WAR is independent of the COMM_ALM and
CMD_ALM. When the
NETC01-M3 shifts from the warning
state to the normal state as a result of the execution of the
ALM_CLR command, this bit is set to 0 (D_WAR=0).
CMDRDY
0: Command cannot be
accepted.
1: Command can be accepted.
CMDRDY=0 (the STATUS bit 2 is equal to "0") represents
that the command processing of the
NETC01-M3
is in
progress. Although the current command processing is
continued, only the DISCONNECT command is executed
immediately regardless of the value of the CMDRDY bit.
ALM_CLR_CMP
0: Alarm clear unprocessed
1: Completion of alarm clear
processing
ALM_CLR_CMP=1 represents that CMD_CTRL.ALM_
CLR=1 has been received and the alarm clear processing
has been completed. The ALM_CLR_CMP can be cleared
by setting the CMD_CTRL.ALM_CLR to "0."
RCMD_ID
Echo-back of the CMD_ID in the
command format
The RCMD_ID represents the response data of the RS-
485 communication compatible product corresponding to
the command change. Returns the echo of the CMD_ID of
the command format.
CMD_ALM
0: No command error
1: Command error state
The CMD_ALM is independent of the COMM_ALM, D_
ALM and D_WAR. If a normal command is received
after the occurrence of a command error, the CMD_
ALM is automatically cleared. The CMD_ALM alarm/
warning classification is specified in the
NETC01-M3
specifications. Refer to p.45 for details.
COMM_ALM
0: No communication error
1: MECHATROLINK- Ⅲ
communication error state
The COMM_ALM is independent of the CMD_ALM, D_
ALM and D_WAR. The COMM_ALM is cleared at the
leading edge of the CMD_CTRL.ALM_CLR or by the ALM_
CLR command. Refer to p.45 for details.