Status Data Reading (?D) - Yamaha TS-S User Manual

Status data reading (?D)
Format
B
Meaning
Function
Reads the status information, such as current position or speed.
Setting
<Status number> : 0 to 20 (See the table below.)
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
Data number and type of status information
n
Number
0
1
2
6
7
9
10
13
14
17
18
Communication example
@?D0.1 c/r l/f
B-16
@?D<status number>[.<node number>] c/r l/f
Reads specified status information.
with the host device, as by daisy chain connection.)
Name
Other than TS-P
Current position
TS-P
Current speed
Electrical current
Other than TS-P
Position command
TS-P
Speed command
Voltage value
Temperature
Current point number
Load rate
Machine reference
Operation status
Transmission Response
D0.1=32000 c/r l/f
OK.1 c/r l/f
Unit
: 0.01mm
Current position information
: 0.001mm
0.01mm/s Actual speed information
% Percentage of electrical current to rated current
: 0.01mm
Position command information currently running
: 0.001mm
0.01mm/s Speed command information currently running
0.1V Motor drive voltage
°C Temperature of motor drive module
- Point number of positioning operation currently running
% Overload error occurs if the load rate reaches 100%.
Machine reference
(See the explanation on Machine reference stated in Chapter 5,
%
section 2.3, "Origin point and coordinates relationship" of the
Controller Guide.)
Value
-1
0
1
2
- 3
4
5
6
7
8
Reads the information on status number 0 (current position).
Receives the data.
Normal end
Contents
Meaning
Return-to-origin is being executed.
Stopping
ABS
INC
ABS merge
INC merge
Operation
type
ABS push
INC push
ABS deceleration push
INC deceleration push