IAI America XSEL-QX - Manual (Page 343)

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Part 4 Commands
1.24 Extended Commands
z ECMD1 (Get motor current value (% of rated current))
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 1
Axis
number
CC
[Function] Store in variable 99 the motor current value (% of the rated current) corresponding to the
“axis number” specified in operand 1.
(Note) x The motor current value (% of the rated current) to be obtained represents feedback-
current filtered data containing analog error.
Accordingly, provide a margin of 5% or more when comparing against the “steady-state
(non-push) torque limit (upper limit)” set by extended command code 250.
[Example] ECMD 1 2 Extended command 1
Store the motor current value (% of the rated current) of
axis 2 in variable 99.
z ECMD2 (Get home sensor status)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 2
Axis
number
CC
[Function] Reflect in the output field the home sensor status corresponding to the “axis number”
specified in operand 2.
(Note) x The home sensor status to be obtained is not an electrical level of H or L, but a
differential/non-operating status that takes into consideration the setting of Axis-specific
parameter No. 14, “Home-sensor input polarity.”
If “0” (Not used) is set in Axis-specific parameter No. 14, “Home-sensor input polarity,”
the sensor status (output field) is deemed indeterminable and its use will be prohibited.
The output port/flag specified in the output field will be operated only when this command
is executed.
Accordingly, this command must be executed repeatedly if you want to constantly reflect
the sensor status in the output port/flag.
[Example] ECMD 2 3 315 Output the home status of axis 3 to output port No. 315.