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INTELLIGENT ACTUATOR
Part 4 Commands
ECMD2 (Get home sensor status)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ECMD 2
Axis
number
CC
This command is supported by controllers of main application version 0.41 or later.
This command can be entered using PC software of version 4.0.0.1 or later, ANSI teaching pendants of
version 1.05 or later, or IAI’s standard teaching pendants of version 1.31 or later.
[Function] Reflect in the output the home sensor status of the “axis number” specified in operand 2.
(Note) The home sensor status to be obtained is not an electrical H/L level, but a differential
operation /non-operation status that takes into consideration axis-specific parameter No. 14,
“Home-sensor input polarity.”
If “0” (Do not use) is set in axis-specific parameter No. 14, “Home-sensor input polarity,” the
sensor status (output) is deemed indeterminable and use of the sensor is prohibited.
The output port/flag specified in the output will be operated only when this command is
executed.
Accordingly, this command must be executed repeatedly in order to always reflect the sensor
status in the output port/flag.
[Example] ECMD 2 3 315 Output the home sensor status of axis 3 to output port
No. 315.
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