Toshiba TS3100 - Page 111

STE 80722
– 106 –
COMMUNICATION MANUAL
series Robot Controller
I) Motion status
No. Name Size (byte) Description
1 Servo power status 1 0: OFF, 1: ON
2 EMERGENCY stop
switch status
1 0: OFF, 1: ON
3 Motion status 1 0: STOP (RESET)
1: RUN
2: STOP (RETRY)
3: STOP (CONT)
4 SU command request 1 0: Without request, 1: With request
5 Current alarm
information
2 × 10 pcs.
Error of level 8: 0 to 367, 960 to 1471
Error of level 4: 368 to 511, 1472 to
1727
Error of level 2: 512 to 735, 1728 to
1983
Error of level 1: 736 to 959, 1984 to
2239
Other than above: No error
6 Program execution line 2 Line number during program execution
7 Program analysis line 2 Line number during program analysis
8 Program execution task 2 Task number during program
execution
9 Program analysis task 2 Task number during program analysis
10 Feed hold status 2 0: OFF, 1: ON
11 Guidance coordinate
system status
2 0: Joint, 1: Tool, 2: Work, 3: World
12 Guide rate status 2 0: Slow, 1: Mid, 2: Fast
13 Guide mode status 2 0: Jog, 1: Inching, 2: Free
14 Master mode status 2 0: TEACHING mode, 1: INTERNAL
mode
2: EXT (SIG) mode, 3: EXT (HOST)
mode
15 Dummy 2 Reserved
16 Power ON time 4 Unit: Min.
17 Program run time 4 Unit: Min.
Total 52