2.2 Command Header Section of Main Command Area
2.2.4 Command Status (CMD_STAT)
2
Command Format
2-7
CMD_ID: Command ID
Definition
The master station uses the command ID to have a slave station acknowledge that the com-
mand is a new command when the master station sends the same command repeatedly to the
slave station.
Applicable commands: EX_FEED, EX_POSING, ZRET
A value in the range 0 to 3 is used.
Description
Since the slave station returns the CMD_ID of the command being executed, the master sta-
tion can decisively judge the command to which the slave station sent the response.
While CMD_RDY = 0 (while the execution process of the command is incomplete), the slave
station disregards commands that have a different CMD_ID and continues the execution of the
command being executed.
2.2.4
Command Status (CMD_STAT)
The following describes the status of responses.
Byte 2 and byte 3 of the response format are specified as the CMD_STAT field.
The CMD_STAT field is specified as shown below by the communication specification.
D_ALM
Definition
This bit indicates the device alarm state of the slave station.
1: A device-specific alarm has occurred.
0: Other state (normal state, or the alarm specified by COMM_ALM or CMD_ALM has
occurred.)
Description
•
When a device-specific alarm other than the alarm state specified by COMM_ALM and
CMD_ALM has occurred, the D_ALM status bit is set to "1."
D_ALM is independent of COMM_ALM and CMD_ALM.
•
When a device-specific alarm has occurred and D_ALM is set to "1" in the servo ON state,
the servo OFF state is established.
•
When the slave station shifts from the alarm state to the normal state as a result of the execu-
tion of the ALM_CLR command or CMD_CTRL.ALM_CLR, this bit is set to "0."
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
RCMD_ID
Reserved
Reserved
ALM_CL-
R_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
Device alarm: Position Deviation Overflow (A.D00)
→
D_ALM = 1
Example
