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10.14 Status (3Ch)
This command is used to indicate the driver status. The statuses that can be checked with this command are as
follows.
General-purpose
input
STOP
HOMELS
CWLS
CCWLS
Encoder input
phases Z
Operating
Motor rotating
Current position
zero
Out of control
coordinate range
Excitation ON
Alarm present
Alarm code
∗1 Indicated by "1" when the input is ON, regardless of the sensor logic.
∗2 While the motor is rotating, both the BUSY status and M-BUSY status is indicated by "1." While the motor is
paused, the BUSY status is indicated by "1" and the M-BUSY status is indicated by "0." Whether the motor is
turning or paused can be determined by M-BUSY.
• Action entry (WRITE/READ)
Only READ can be specified.
WHITE: A receive failure will be recognized and NACK will be returned. The frame data will not be
• Mode
This command cannot be set for each operation mode.
Any mode can be specified, but the rule of thumb is to specify "00h."
• Data
Assign the data 1 and 2 bits as follows. Data 4 indicates an alarm code.
The data 3 bits are always "0."
Byte
position
Data1
Data2
Data3
Data4
Setting value
Name
Display
IN
STOP
HOMELS
CWLS
CCWLS
ENC-Z
BUSY
M-BUSY
HOME-P
OVER-P
ENABLE
ALM
ALMCD
executed, and the data will be destroyed.
Bit7
Bit6
ENABLE
ALM
IN
STOP
ENC-Z
Description
0
OFF
1
ON
The general-purpose input status is indicated.
The STOP input status is indicated.
The HOMELS status is indicated.
The CWLS status is indicated.
The CCWLS status is indicated.
The encoder input phases Z status is indicated.
The motor is rotating or is paused.
∗2
The motor is rotating.
The BUSY signal is OFF and the current position is "0."
The current position is outside the control range. This status will be
cleared once a counter clear command is issued.
The motor is excited.
An alarm is present.
The content of the present alarm is indicated.
Bit5
Bit4
Bit3
OVER-P
0
0
HOMELS
0
CCWLS
ALMCD
Initial value
In accordance with the driver status.
10 Command details
Description
∗1
∗1
∗1
∗1
∗2
Bit2
Bit1
HOME-P
M-BUSY
CWLS
0
0
Bit0
BUSY
0
－45－
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