6.4
MP2300 Parameter Details
6-51
( 5 ) Motion Command Response Codes
( 6 ) Motion Command Status
( 7 ) Motion Subcommand Response Code
IW
08
Motion Command Response Codes
Setting Range Setting Unit
0 to 65535
－
Description
Stores the motion command code for the command that is currently being executed.
This is the motion command code that is currently being executed and is not necessarily the same as the Motion
Command (setting parameter OW
08).
Response codes are also stored when the following processing is executed.
・
Servo ON: 29
・
Servo OFF: 30
・
Clear alarms: 31
IW
09
Servo Module Command Status
Setting Range Setting Unit
－－
Description
Bit 0
Command Executing (BUSY)
OFF: READY (completed)
ON: BUSY (processing)
This bit indicates the motion command status. Refer to Chapter 7 Motion Commands for details on command
timing charts.
This bit turns ON during execution of commands that have been completed or during abort processing.
Bit 1
Command Hold Completed (HOLDL)
OFF: Command hold processing not completed
ON: Command hold completed
This bit turns ON when command hold processing has been completed. Refer to Chapter 7 Motion Commands
for details on command timing charts.
Bit 3
Command Error Occurrence (FAIL)
OFF: Normal completion
ON: Abnormal completion
This bit turns ON if motion command processing does not complete normally.
If motion command execution ends in an error, the axis will stop any motion. Refer to Chapter 7 Motion Com-
mands for details on command timing charts.
Bit 7
Reset Absolute Encoder Completed
OFF: Reset not completed
ON: Reset completed
This bit turns ON when the Reset Absolute Encoder command (ABS_RST) is executed and initialization is
completed.
Refer to Chapter 7 Motion Commands for details on command timing charts.
Bit 8
Command Execution Completed (COMPLETE)
OFF: Normal execution not completed
ON: Normal execution completed
This bit turns ON when motion command processing was completed normally. Refer to Chapter 7 Motion
Commands for details on command timing charts.
IW
0A
Motion Subcommand Response Code
Setting Range Setting Unit
0 to 65535
－
Description
Stores the motion subcommand code for the command that is being executed.
This is the motion subcommand code that is currently being executed and is not necessarily the same as the Motion
Subcommand (setting parameter OW
0A).
Subcommands are used by the system for latch commands and reading/writing parameters.
R
R
R
R
R
R
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