Continuous Query - Yamaha TS-S User Manual

5.9 Continuous quer y
This function outputs operation information such as the current position and speed, etc., in a continuous
manner.
Input
Output
c
CAutIoN
output occurs as 2-word, little Endian data.
When the gateway function is set enabled, the continuous query cannot be used.
Command type and response data
n
Command (WIN0)
8100h
Timing chart
n
Timing chart
For a current position continuous query
Command option
(WIN1)
Command (WIN0)
Status (WOUT0)
Command response
(WOUT2, WOUT3)
* Data updates occur every 5ms.
* Data updates continue until a 0x0000 (status clear) command is specified.
* Data updates output continuously until the status becomes the command ready status by executing the status clear (no
execution) (WIN0=0000h).
To put in the command ready status without stopping the data update, execute the status clear (continuous query
continuation) (WIN0=8000h).
n
NOTE
This function is available from CC-Link controller's software version Ver. 1.08.118 onwards and DeviceNet and
EtherNet/IP controller's software version Ver. 1.10.121 onwards.
Command Option
WIN3 WIN2
- -
Command Response
WOUT3 WOUT2
Data
Type (WIN1) Data (WOUT2, WOUT3)
0000h Current position
0001h Current speed
0002h Electrical current
0009h Voltage
000Ah Temperature
000Dh Current point No.
000Eh Load rate
0100h Bit status
0000h 0000h
Td
0000h
0000h
00000000h
WIN1
Type
WOUT1
-
Other than TS-P
TS-P
0000h
8100h
0200h
Data updating
Command
WIN0
8100h
Status
WOUT0
0200h
Units
5
: 0.01mm
: 0.001mm
0.01mm/s
%
0.1V
˚C
-
%
-
0000h
0000h
Stop
23540-M0-00
5-41