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56 • Chapter 4 Communication DMC-3425
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 plane (2 Byte)
BIT 15 BIT
14
BIT 13 BIT 12 BIT 11 BIT
10
BIT 9 BIT 8
Move in
Progress
N/A N/A N/A N/A N/A N/A N/A
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
N/A N/A Motion is
slewing
Motion is
stopping due
to ST or
Limit
Switch
Motion is
making
final
decel.
N/A N/A N/A
Notes Regarding Velocity and Torque Information
The velocity information that is returned in the data record is 64 times larger than the value returned
when using the command TV (Tell Velocity). See command reference for more information about
TV.
The Torque information is represented as a number in the range of +/-32767. Maximum negative
torque is -32767. Maximum positive torque is 32767. Zero torque is 0.
QZ Command
The QZ command can be very useful when using the QR command, since it provides information
about the controller and the data record. The QZ command returns the following 4 bytes of
information.
BYTE # INFORMATION
0 Number of axes present
1 Number of bytes in general block of data record
2 Number of bytes in coordinate plane block of data record
3 Number of Bytes in each axis block of data record