YASKAWA S-7 Series Command Manual page 53

2.5 Command Header Section
2.5.2 Servo Command Status (SVCMD_STAT)
2.5.2 Servo Command Status (SVCMD_STAT)
Byte 4 to byte 7 of the response format are specified as the SVCMD_STAT field.
The status bit indicates the status of the slave station.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
The SVCMD_STAT field is specified as shown below by the communication specification.
SVCMD_STAT Field
bit 7
bit 15
bit 23
bit 31
Details of Status Bits
The following table shows the details of the status bits.
bit
0
1
4, 5
8
9
2-16
bit 6 bit 5
Reserved (0)
bit 14 bit 13
Reserved (0) SV_ON
bit 22 bit 21
SEL_MON2
bit 30 bit 29
Reserved (0)
Name
CMD_PAUSE_
CMP
The status used to judge the completion of pausing of the POSING, FEED, EX_FEED, EX_POS-
ING, ZRET and VELCTRL commands
CMD_CANCEL_
CMP
The status used to judge the completion of cancellation of the POSING, FEED, EX_FEED, EX_-
POSING, ZRET and VELCTRL commands
ACCFIL
The status used to judge the position reference filter currently being applied
L_CMP1
The status used to judge the completion of latching requested by LT_REQ1
Up until "0" is set for LT_REQ1, L_CMP1 is maintained at "1."
L_CMP2
The status used to judge the completion of latching requested by LT_REQ2
Up until "0" is set for LT_REQ2, L_CMP2 is maintained at "1."
In the continuous latch mode, L_CMP2 is returned to "0" after one communication cycle after
completing latching.
bit 4 bit 3
ACCFIL
bit 12 bit 11
M_RDY PON
bit 20 bit 19
bit 28 bit 27
Description
Completion of Pause of
Move Command
Completion of Cancellation
of Move Command
Current Position Reference
Filter
Latch Completion 1
Latch Completion 2
bit 2 bit 1
CMD
Reserved (0) _CANCEL
_CMP
bit 10 bit 9
POS_RDY L_CMP2
bit 18 bit 17
SEL_MON1
bit 26 bit 25
SEL_MON3
Value Setting
Incomplete (when pausing com-
0
manded)
Pausing of move command com-
1
pleted
Incomplete (when cancellation com-
0
manded)
Cancellation of move command
1
completed
0 No position reference filter
Exponential function position refer-
1
ence filter
Movement average position refer-
2 ence
filter
3 Reserved
0 Latch not completed
1 Latch completed
0 Latch not completed
1 Latch completed
Continued on next page.
bit 0
CMD
_PAUSE
_CMP
bit 8
L_CMP1
bit 16
bit 24