Omron CS1W-MCH71 Operation Manual page 203

System Variables
Command Code in
Command Execution
Status
Classification Command name
No operation Not executing
Axis movement Positioning
Linear interpolation
Circular interpolation
Origin search
Interrupt feeding
Time-specified positioning
Traverse
Electronic CAM single axis
Axis operation Link operation
Electronic CAM Synchronous CAMBOX
Electronic shaft
Trailing synchronization
Travel distance superimpose
Speed command
Torque command
Axis operation Synchronization end
end
Note
MECHATROLINK-II Servo
Status
158
In the system parameter Command execution status (SW0228 for axis 1), one
of the command codes in the table below will be displayed.
They are used to monitor the execution status of the operation in the program.
Command
---
MOVE
MOVEL
MOVEC
DATUM
MOVEI
MOVET
MOVETRAV
CAM
MOVELINK
CONNECT
SYNC
ADDAX
SPEED
TORQUE
SYNCR
With Target Position Change command (MOVEMODI), the command code of
MOVE or MOVEL in the previous block is maintained.
The system parameter MECHATROLINK-II servo status (SW021C, SW021D
for axis 1) shows the status of the servo driver.
Axis addresses are calculated using the following equation.
Axis i Servo status address 1 (hexadecimal) = SW021C (Hex) + 30 (Hex) × (i
− 1)
Axis i Servo status address 2 (hexadecimal) = SW021D (Hex) + 30 (Hex) × (i
− 1)
i = 1 to 32
Examples: Axis 2 axis Servo status address 1 (hexadecimal) = SW021C
(Hex) + 30 (Hex) × (2 − 1) = SW024C (Hex)
Axis 2 axis Servo status address 2 (hexadecimal) = SW021D
(Hex) + 30 (Hex) × (2 − 1) = SW024D (Hex)
Code
0000h
0001h
0002h
0003h
0004h
0005h
0006h
0007h
0008h
0015h
0016h
0017h
0018h
0019h
001Ah
001Bh
0029h If there is no travel distance specifica-
tion, the code of the synchronous com-
mand code is maintained.
Section 4-5
Remark