IAI America ROBO Cylinder Series - Manual (Page 54)

4. Communicationn
46
Modbus
(15) Data of system status registers (Address = 9008
H
) (STAT)
Bit Symbol Name Function
31
BATL Absolute Battery Voltage
Drop
(for SCON only)
0: In normal conditionᴾ ᴾ
1: Battery voltage drop
It becomes 1 once the voltage of the absolute battery reaches below the
alarm level. The operation of the axes can be held even if this bit is
showing 1 as far as Critical Failure Status Bit in Device Status Register 1
is showing 0.
30 to 18 - Cannot be used
17 ASOF Auto servo OFF 0: Normal
1: Auto servo OFF
If “Auto servo OFF delay time” is set with a parameter of the RC
controller, this bit becomes 1 when the servo is turned OFF
automatically after the specified time has elapsed following the position
complete.
16 AEEP Nonvolatile memory
being accessed
0: Normal
1: Nonvolatile memory being accessed
This bit turns 1 as soon as the nonvolatile memory in the RC controller is
accessed to read or write the controller’s parameter position table, etc.
The bit becomes 0 when the access is completed or a timeout error
occurs.
15 to 5 - Cannot be used
4 RMDS Operation mode status 0: AUTO mode
1: MANU mode
This bit becomes 1 when the RC controller is in the MANU mode.
Note that the controller is always in the MANU mode in cases of models
not equipped with an operation mode switch (ERC2, PCON-SE/CY and
ACON-SE/CY).
3 HEND Home return completion
status
0: Home return not yet complete
1: Home return completion
This bit will become 1 when home return is completed. In case the
absolute specification is set, the bit is set to 1 from the startup if absolute
reset has been completed.
If a movement command is issued while this bit is 0, an alarm will
generate.
2 SV Servo status 0: Servo OFF
1: Servo ON
The servo ON status is indicated. After a servo ON command is issued,
this bit will remain 0 until the servo ON delay time set by a parameter
elapses.
If the servo cannot be turned ON for some reason even after a servo ON
command is received, this bit will remain 0.
The RC controller does not accept any movement command while this
bit is 0.
1 SON Servo command status 0: Servo OFF
1: Servo ON
This bit indicates the servo ON/OFF command status.
This bit will turn 1 when the following conditions are met:
x The EMG status bit in device status register 1 is 0.
[Refer to 5.3.11 or 6.4.11.]
x The major failure status bit in device status register 1 is 0.
[Refer to 5.3.11 or 6.4.11.]
x The enable status bit in device status register 2 is 1.
[Refer to 5.3.12 or 6.4.12.]
x The auto servo OFF status in the system status register is 0.
[Refer to 5.3.14 or 6.4.14.]
0 MPOW Drive source ON 0: Drive source cut off
1: Normal
This bit will turn 0 when the motor drive-source cutoff terminal is
released.