8 Motion Commands
8-68
(b) Monitoring Parameters
(4) Timing Charts
(a) Normal End
(b) Error End
Parameter
Name
Monitor Contents
IL
02
Warning
Stores the most current warning.
IL
04
Alarm
Stores the most current alarm.
IW
08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 19 during ALM_MON command execution.
IB
090
Command Executing
Turns ON during ALM_MON command execution and turns OFF when execution
has been completed.
IB
091
Hold Completed
Always OFF for ALM_MON command.
IB
093
Command Error End
Turns ON if an error occurs during ALM_MON command execution. Turns OFF
when another command is executed.
IB
098
Command
Completed
Turns ON when ALM_MON command execution has been completed.
IW
2D
Servo Alarm Code
Stores the SERVOPACK alarm or warning code that was read.
OW
08 = 19 (ALM-MON)
IW
08 = 19 (ALM-MON)
IB
090 (BUSY)
IW
2D
Alarm code (0)
Alarm code (0)
Specified
alarm
code
IB
098 (COMPLETE)
IB
093 (FAIL)
Undefined
length of time
Alarm code (0)
Alarm
code (0)
Alarm
code (0)
OW
08 = 19 (ALM-MON)
IW
08 = 19 (ALM-MON)
IB
090 (BUSY)
IW
2D
IB
098 (COMPLETE)
IB
093 (FAIL)
Undefined
length of time