IAI RoboNet - Query List

117
Part 1 S
p
ecification
3.9.3.2 Query List
The table below lists queries that can be used.
FC Function
Remarks
(Performable operation)
Positioner
mode axis
Simple
direct
mode axis
Direct
numerical
mode axis
Details
[1] Read gateway status signal 0, 1 1 each 1 each 1 each
3.9.3.3 (2) [1]
[2] Read response command data 0 to 3 1 each 1 each X
3.9.3.3 (2) [2]
[3] Monitor current position (unit: 0.01 mm, 2 words) 2 2 2
3.9.3.3 (2) [3]
[4] Monitor current electrical current (unit: 1 mA, 2 words) X X 2
3.9.3.3 (2) [4]
[5] Monitor current speed (unit: 1 mm/s, 1 word) X X 1
3.9.3.3 (2) [5]
[6] Monitor alarm information (1 word) X X 1
3.9.3.3 (2) [6]
3.9.3.3 (2) [7]
[7] Read completed position number status
PM1/PM2/PM4/PM8/PM16/PM32/PM64/PM128/
PM256/PM512
1 1 X
[8] Read status signal status 1 1 1
3.9.3.3 (2) [8]
• Position complete (PEND)
{ { {
• Home return complete (HEND)
{ { {
• Moving (MOVE)
{ { {
• Alarm (ALM)
{ { {
• Ready (SV)
{ { {
• Missed load in push operation (PSFL)
{ { {
• Position data load command status (WEND)
{
X X
• Teaching mode status (MODES)
{
X X
• Position zone output monitor (PZONE)
{
X X
• Zone output monitor 1 (ZONE1)
{ { {
• Zone output monitor 2 (ZONE2)
{ { {
• Controller ready (CRDY)
{ { {
03H Read
multiple
registers
• Emergency stop status (EMGS)
{ { {
[1] Write gateway control signal 0, 1 1 each 1 each 1 each
3.9.3.4 (2) [1]
[2] Output command position number 1 X X
3.9.3.4 (2) [2]
[3] Output control signals 1 1 1
3.9.3.4 (2) [3]
• Start command (CSTR)
{ { {
• Home return command (HOME)
{ { {
• Pause command (STP)
{ { {
• Reset command (RES)
{ { {
• Servo ON command (SON)
{ { {
• Jogging/inching switching (JISL)
{ { {
• Jogging speed/inching distance switching (JVEL)
{ { {
• Jog- command (JOG-)
{ { {
• Jog+ command (JOG+)
{ { {
• Position data load command (PWRT)
{
X X
06H
Write
register
• Teaching mode command (MODE)
{
X X