Part 1 specification – IAI America REXT User Manual
Page 149
Part 1 Specification
Chapter 3 Gateway R unit
125
Part 1 Specification
3.9.3.2 Query List
The table below lists queries that can be used.
FC Function
Remarks
(Performable operation)
Positioner
mode axis
Simple
direct
mode axis
Direct
numerical
mode axis
Details
[1] Read gateway status signal 0, 1
1 each
1 each
1 each
3.9.3.3 (2) [1]
[2] Read response command data 0 to 3
1 each
1 each
X
3.9.3.3 (2) [2]
[3] Monitor current position
(unit: 0.01 mm, 2 words)
2
2
2
3.9.3.3 (2) [3]
[4] Monitor current electrical current (unit: 1 mA, 2 words)
X
X
2
3.9.3.3 (2) [4]
[5] Monitor current speed
(unit: 1 mm/s, 1 word)
X
X
1
3.9.3.3 (2) [5]
[6] Monitor alarm information
(1 word)
X
X
1
3.9.3.3 (2) [6]
3.9.3.3 (2) [7]
[7] Read completed position number status
PM1/PM2/PM4/PM8/PM16/PM32/PM64/PM128/
PM256/PM512
1
1
X
[8] Read status signal status
1
1
1
3.9.3.3 (2) [8]
x
Position complete
(PEND)
{
{
{
x
Home return complete
(HEND)
{
{
{
x
Moving
(MOVE)
{
{
{
x
Alarm
(ALM)
{
{
{
x
Ready
(SV)
{
{
{
x
Missed work part in push operation
(PSFL)
{
{
{
x
Position data load command status
(WEND)
{
X
X
x
Teaching mode status
(MODES)
{
X
X
x
Position zone output monitor
(PZONE)
{
X
X
x
Zone output monitor 1
(ZONE1)
{
{
{
x
Zone output monitor 2
(ZONE2)
{
{
{
x
Controller ready
(CRDY)
{
{
{
03H Read
multiple
registers
x
Emergency stop status
(EMGS)
{
{
{
[1] Write gateway control signal 0, 1
1 each
1 each
1 each
3.9.3.4 (2) [1]
[2] Output command position number
1
X
X
3.9.3.4 (2) [2]
[3] Output control signals
1
1
1
3.9.3.4 (2) [3]
x
Start command
(CSTR)
{
{
{
x
Home return command
(HOME)
{
{
{
x
Pause command
(STP)
{
{
{
x
Reset command
(RES)
{
{
{
x
Servo ON command
(SON)
{
{
{
x
Jogging/inching switching
(JISL)
{
{
{
x
Jogging speed/inching distance switching
(JVEL)
{
{
{
x
Jog- command
(JOG-)
{
{
{
x
Jog+ command
(JOG+)
{
{
{
x
Position data load command
(PWRT)
{
X
X
06H
Write
register
x
Teaching mode command
(MODE)
{
X
X
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