Omron SYSMAC CJ Operation Manual page 75

Data
3-3-1-2 Status data
Status words n+1 and n+2 return the status of the CJ1W-MCH72. The table
below lists the layout of these status words.
/i
Word Bit Description
n+1 0 Unit operational
1 Watchdog on
2..7 N/A
8 Program execution
enabled
9 Axes watchdog
enabled
10 Deceleration active
11 Outputs enabled
12..15 N/A
n+2 0 MECHATROLINK-II
error
1 Axes error
2 BASIC error
3 Battery error
4..15 N/A
Status words n+3..n+13 return the status of the axes and processes of the
CJ1W-MCH72.
/i
Word Bit
n+3 0..15 Servo On flags for axes 0..15
n+4 0..15 Servo On flags for axes 16..31
n+5 0..15 Axis Enable flags for axes 0..15
n+6 0..15 Axis Enable flags for axes 16..31
n+7 0..15 Axis Error flags for axes 0..15
n+8 0..15 Axis Error flags for axes 16..31
n+9 0..15 Axis In Commissioning Mode flags for axes 0..15
n+10 0..15 Axis In Commissioning Mode flags for axes 16..31
n+11 0..13 Process Running flags for processes 1..14
14,15 Always 0
Value
0 Unit not operational
1 Unit operational
0 Axes watchdog off
1 Axes watchdog on
Always 0
Feedback of word n, bit 0
Feedback of word n, bit 1
Feedback of word n, bit 2
Feedback of word n, bit 3
Always 0
0 No MECHATROLINK-II error
1 Error on MECHATROLINK-II bus
0 No axes error
1 Axes error (See control and status
words n+7 and n+8)
0 No BASIC error
1 BASIC error for a running process
0 Battery OK
1 Battery low or empty
Always 0
Description
Section 3-3
Function
63