Mitsubishi Electric GOT2000 Connection Manual page 82

(4) Axis Status device
AXST00
Obtained data:
AXST00 to AXST05: Single-axis status
00: Axis status
Bit 7 (Reserved for system use)
Bit 6 (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.
Bit 3 (Servo): 0 = OFF / 1 = ON
Bit 1-2 (Origin return): 0 = Not yet performed
Bit 0 (Servo axis in use): 0 = Not in use
* "Servo axis in use" indicates that a given task has
the right to use the applicable axis.
Therefore, this bit will turn ON in the following conditions:
- When an operation command involving
axis movement is in progress
(including when an axis is moving)
- Servo is starting up from an OFF state
- Servo is shutting down from an ON state
(excluding emergency stop)
- Operation axis is paused
01: Axis sensor input status
Bit 3 (Reserved for system use)
Bit 2 (Origin sensor): 0 = OFF / 1 = ON
Bit 1 (Overrun sensor): 0 = OFF / 1 = ON
Bit 0 (Creep sensor): 0 = OFF / 1 = ON
02: Axis error code
03: Encoder status
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))
04: Current position (L) unit (0.001mm)
Indicates the lower 16 bits of the current position in Hex.
05: Current position (H) unit (0.001mm)
Indicates the upper 16 bits of the current position in Hex.
AXST06 to AXST11: Double axes status
AXST42 to AXST47: Eight axes status
2 - 28
2. CONNECTION TO IAI ROBOT CONTROLLER
2.6 Device Range that Can Be Set
/ 1 = Returning to origin / 2 = Completed
/ 1 = In use (moving, etc.)
(5) Scara Axis Status device
SAXS 0 00
Obtained data:
00: Work coordinate system selection number
01: Tool coordinate system selection number
02: Common axis status
Bit 7 (Reserved for system use)
Bit 6 (Reserved for system use)
Bit 5 (Reserved for system use)
Bit 4 (Reserved for system use)
Bit 2-3 (Scara axis current position coordinate system type):
0 = Base coordinate system
/ 1 = Selected work coordinate system
/ 2 = Reserved for system use / 3 = Each axis system
Bit 0-1: (Scara axis current arm system):
0 = Right arm system / 1 = Left arm system
/ 2 = Indeterminable / 3 = Reserved for system use
03: Axis pattern
Bit - 7 6 5 4 3 2 1 0
04 to 09: Single-axis status
04: Axis status
Bit 7 (Reserved for system use)
Bit 6 (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 (Origin return): 0 = Not yet performed
/ 1 = Returning to origin / 2 = Completed
Bit 0 (Servo axis in use): 0 = Not in use
* "Servo axis in use" indicates that a given task has the
right to use the applicable axis.Therefore, this bit will
turn ON in the following conditions:
- When an operation command involving axis
movement is in progress
(including when an axis is moving)
- Servo is starting up from an OFF state
- Servo is shutting down from an ON state
(excluding emergency stop)
- Operation axis is paused
05: Axis sensor input status
Bit 3 (Reserved for system use)
Bit 2 (Origin sensor): 0 = OFF / 1 = ON
Bit 1 (Overrun sensor): 0 = OFF / 1 = ON
Bit 0 (Creep sensor): 0 = OFF / 1 = ON
06: Axis error code
07: Encoder status
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))
08: Current position (L) unit (0.001mm or 0.001deg)
Indicates the lower 16 bits of the current position in Hex.
09: Current position (H) unit (0.001mm or 0.001deg)
Indicates the upper 16 bits of the current position in Hex.
0A to 0E: Double axes status
2E to 33: Eight axes status
34 to FF: Reserved for system use
Unit type (0 to F)
Bit 3 (Reserved for system use) Fixed to 0
Bit 2 (Reserved for system use) Fixed to 0
Bit 0-1 (Scara axis current position type):
0 = Base coordinate system
/ 1 = Selected work coordinate system
/ 2 = Reserved for system use / 3 = Each axis system
1st axis
8th axis
Reserved for system use
/ 1 = In use (moving, etc.)