Output Format Of Output_State - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
Table 2-3 List of APIs (2)
Item Command
Loop loop_start <loop
operation count>
loop_end
Interrupt interrupt_stop
operation

2.3.3 Output Format of output_state

The following figure shows the format of the parameters that are displayed in the output column of the GUI
when the output_state command is executed.
Pm is the angle of the encoder in the motor and P is the angle in the coordinate system used in trajectory
calculation.
Pm1 = xx.xx Pm2 = xx.xx
P1 = xx.xx P2 = xx.xx
(x y) =
xxx.xx xx.xx
Figure 2-2 Output Format of output_state (displayed in the output column of the GUI)
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Abbr. Operation
MST Starts continuous operation.
(LST)
The <loop count> argument
determines how many times the
commands that were input in the
range from loop_start to
loop_end are to be executed.
MEN Finishes continuous operation.
(LEN)
IST Stops operation of the arm.
(the instruction that was input is
discarded)
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Response
Normal: MST OK
(LST OK)
Error: MST NG
(LST NG)
Normal: MEN OK
(LEN OK)
Error: MEN NG
(LEN OK)
Normal: IST OK
Error: IST NG
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