IAI America TTA User Manual
Page 67
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Normal
re
spon
se
(Con
tinued
from
th
e pre
v
iou
s
p
age)
Single-a
x
is sta
tu
s
(
*1)
Axis status
'XX(h)'
2
16
Bit 6, 7 (Reserved for system use)
Bit 5 (Push error detection): 0 = Not detected / 1 = Detected
Bit 4 (Operation command successful completion): 0: Not yet complete
/ 1 = Completed successfully
* Can be used only for completion check after an operation command.
(For positioning that includes any of the X, Y and R-axes, be sure to
check completion for all of the X, Y and R-axes.)
Bit 3 (Servo): 0 = OFF / 1 = ON
Bit 1, 2 (Home return): 0 = Not yet performed / 1 = Returning to home /
2 = Completed
Bit 0 (Servo axis in use): 0 = Not in use / 1 = In use (moving, etc.)
* “Servo axis in use” indicates that a given task has the right to use the
applicable axis. Therefore, this bit will turn ON not only when an
operation command involving axis movement is in progress
(including when an axis is moving), but also in the following
conditions:
• Servo is starting up from an OFF state
• Servo is shutting down from an ON state (excluding emergency stop)
• Operation axis is paused
* Check method for operation command positioning under IAI protocol
After an IAI-protocol operation command is executed, turning OFF
(Not in use) of bit 0 (Servo axis in use) will be monitored for the
applicable axis.
When “Not in use” is detected, the cause will be checked based on the
conditions of bit 4 (Operation command successful completion) and bit
5 (Push error detection) (three causes are shown below):
(1) [Bit 0 (Servo axis in use) = OFF] AND [Bit 4 (Operation command
successful completion) = ON]
---
Positioning
has
completed successfully.
(2) [Bit 0 (Servo axis in use) = OFF] AND [Bit 5 (Push error detection)
= ON]
--- Push error (* Need not be checked if push command is not
used.)
(3) [Bit 0 (Servo axis in use) = OFF] AND [bit 4 (Operation command
successful completion) = OFF] AND [Bit 5 (Push error detection) =
OFF]
--- Operation cancellation due to error, emergency stop, etc.
Axis sensor input
status
'X(h)' 1
17
Bit 3 (Reserved for system use)
Bit 2 (Home sensor): 0 = OFF / 1 = ON
Bit 1 (Overrun sensor): 0 = OFF / 1 = ON
Bit 0 (Creep sensor): 0 = OFF / 1 = ON
Axis error code
'XXX(h)'
3
20
Encoder status (at
reset)
'XX(h)' 2
22
Bit 7 (Battery alarm (BA))
Bit 6 (Battery error (BE))
Bit 5 (Multi-rotation error (ME))
Bit 4 (Reserved for system use)
Bit 3 (Counter overflow (OF))
Bit 2 (Count error (CE))
Bit 1 (Full absolute status (FS))
Bit 0 (Overspeed (OS))
Current position
'XXXXXXXX(h)'
8
30
0.001 mm or
0.001 deg
Long-type data (hexadecimal ASCII code)
Single-axis status
repetition for remaining
axes
Data indicated by *1 for
the number of
remaining axes
MAX
112
MAX
142
Refer to the data indicated by *1.
Data indicated by *1 x Number of remaining effective axes = 16 bytes x
(Max 8 – 1) = Max 112 bytes
SC 'XX(h)'
2
MAX
144
CR 0Dh
1
MAX
145
LF 0Ah
1
MAX
146
Error
respon
se
Error response format
Refer to the error
response format.
10 10
(Note 1)
Add H (or h) at the end of each data expressed in hexadecimal notation. If there is no H or h at the end, the data is considered a decimal.
(Note 2)
Data enclosed in single quotation marks indicates an ASCII code. Data is a hexadecimal ASCII code if (h) is added before the closing quotation mark, or a decimal ASCII code if (d) is added before the closing
quotation mark.