Data Section 3-3
63
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
Status words n+3..n+13 return the status of the axes and processes of the
CJ1W-MCH72.
/i
Word Bit Description Value Function
n+1 0 Unit operational 0 Unit not operational
1 Unit operational
1 Watchdog on 0 Axes watchdog off
1 Axes watchdog on
2..7 N/A Always 0
8 Program execution
enabled
Feedback of word n, bit 0
9 Axes watchdog
enabled
Feedback of word n, bit 1
10 Deceleration active Feedback of word n, bit 2
11 Outputs enabled Feedback of word n, bit 3
12..15 N/A Always 0
n+2 0 MECHATROLINK-II
error
0 No MECHATROLINK-II error
1 Error on MECHATROLINK-II bus
1 Axes error 0 No axes error
1 Axes error (See control and status
words n+7 and n+8)
2 BASIC error 0 No BASIC error
1 BASIC error for a running process
3 Battery error 0 Battery OK
1 Battery low or empty
4..15 N/A Always 0
Word Bit Description
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
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