Status Information Reading Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.3 Status Information Reading Command

Command No. 0x72
Instance Fixed to "1".
Attribute Specify one out of followings
1: Data 1
2: Data 2
Service Get_Attribute_Single: 0x0E
•
Get_Attribute_All: 0x01
•
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status 0: not specified
•
size 1: 1 WORD
•
2: 2 WORD
•
Added status
32bit integer Byte 0 Byte 1
1 Data 1
2 Data 2
Data 1 bit0 Step
bit1 1 cycle
bit2 Automatic and
continuous
bit3 Running
bit4 In-guard safe
operation
bit5 Teach
bit6 Play
bit7 Command remote
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
<Details>
Specify "1".
Specify the status data number.
For the details of Data1 and Data 2, refer to "Details of
data".
Specify the accessing method to the data.
0x0E: Read out data of the specified element number
0x01: Read out data of all the element number
Data part
No data part
Answer
Sub header part
<Details>
: respond abnormally
"1" indicates 1 WORD of added status data, and "2"
indicates 2 WORD of added status data.
The error code of 1 WORD exists if the added status
code is "1" and that of 2 WORD exists if the code is "2".
Data part
Byte 2 Byte3 <Details>
Refer to "Details of data".
Refer to "Details of data".
Details of data
Data 2
3-26
(In this case, specify0 to the element number.)
bit0
bit1 In hold status (by programming pendant)
bit2 In hold status (externally)
bit3 In hold status (by command)
bit4 Alarming
bit5 Error occurring
bit6 Servo ON
bit7
HW1480958
45 of 119