YASKAWA DX100 Instructions Manual page 75

157449-1CD
Data Transmission
Function

5 Host Control Function of DX100
5.2 Robot Control Function
RSTATS
Reads the status of mode, cycle, operation, alarm error, and servo.
Command format : RSTATS
Response format : Data-1, Data-2 or Error code
Data-1
MSB
Data-2
MSB
<Example>
Command RSTATS
Response 1, 0
5-14
LSB
Step
1 cycle
Auto
Running
Safety speed operation
Teach
Play
Command remote
LSB
Hold (programming pendant)
Hold (external)
Hold (command)
Alarm occuring
Error occuring
Servo ON
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