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Chapter 4 Communication • 50 USER MANUAL
124-125 UW w,d axis status
126 UB w,d axis switches
127 UB w,d axis stopcode
128-131 SL w,d axis reference position
132-135 SL w,d axis motor position
136-139 SL w,d axis position error
140-143 SL w,d axis auxiliary position
144-147 SL w,d axis velocity
148-149 SW w,d axis torque
150-151 SW w,d axis analog input
Note: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word
Explanation of Status Information and Axis Switch Information
General Status Information (1 Byte)
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Program
Running
N/A N/A N/A N/A Waiting
for input
from IN
command
Trace On Echo On
Axis Switch Information (1 Byte)
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Latch
Occurred
State of
Latch
Input
N/A N/A State of
Forward
Limit
State of
Reverse
Limit
State of
Home
Input
SM
Jumper
Installed
Axis Status Information (2 Byte)
BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8
Move in
Progress
Mode of
Motion
PA or PR
Mode of
Motion
PA only
(FE) Find
Edge in
Progress
Home
(HM) in
Progress
1st Phase
of HM
complete
2
nd
Phase
of HM
complete
or
FI
command
issued
Mode of
Motion
Coord.
Motion
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Negative
Direction
Move
Mode of
Motion
Contour
Motion is
slewing
Motion is
stopping
due to ST
or Limit
Switch
Motion is
making
final
decel.
Latch is
armed
Off-On-
Error
occurred
Motor Off
Coordinated Motion Status Information for S or T plane (2 Byte)
BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8