Device | Bit Address | Word Address | Double Word Address | 32 bits | Remarks
Input Port | IP000 - IP299 | IP000 - IP272 | ------ |  | *1
Output Port | OP300 - OP599 | OP300 - OP572 | ------ |
Flag | FG000.600 - FG000.899 FG001.900 - FG128.999 | FG000.600 - FG000.872 FG001.900 - FG128.980 | ------ | *2
Point Data Total Count | ------ | PDT0 | ------ | ------ | *1
Integer | ------ | ------ | INT000.0200 - INT000.1299 INT001.0001 - INT128.1099 |  | *3
Real | ------ | ------ | RL000.0300 - RL000.1399 RL001.0100 - RL128.1199 | *4 *33
String | ------ | STR000.300 - STR000.998 STR001.001 - STR128.299 | ------ | *5
Axis Status | ------ | AXST00 - AXST47 | ------ | *1 *6
Scara Axis Status | ------ | SAXS000 - SAXS3FF | ------ | *1 *7
Version | ------ | VR000 - VR3FF | ------ | *1 *8
Error Detail 0 | ------ | ------ | ER00000000 - ER0FFFFFFF | *1 *9
Error Detail 1 | ------ | ------ | ER10000000 - ER1FFFFFFF | *1 *9
Error Detail 2 | ------ | ------ | ER20000000 - ER2FFFFFFF | *1 *9
Error Detail 3 | ------ | ------ | ER30000000 - ER3FFFFFFF | *1 *9
Error Detail 4 | ------ | ------ | ER40000000 - ER4FFFFFFF | *1 *9
Error Detail 5 | ------ | ------ | ER50000000 - ER5FFFFFFF | *1 *9
Error Detail 6 | ------ | ------ | ER60000000 - ER6FFFFFFF | *1 *9
Error Detail 7 | ------ | ------ | ER70000000 - ER7FFFFFFF | *1 *9
Program Status | ------ | PGST000 - PGST511 | ------ | *1 *10
System Status | ------ | SYST0 - SYST6 | ------ | *1 *11
Program Control | ------ | PRG000 - PRG128 | ------ | *12 *13
Alarm Reset | ------ | AR0 | ------ | ------ | *12
Software Reset | ------ | SR0 | ------ | *12 *14
Drive-Source Recovery | ------ | DSR0 | ------ | *12
Operation-Pause Reset | ------ | OPR0 | ------ | *12
Point Data Clear | PCLR001 - PCLRFA0 PCLR0001 - PCLR4E20 | PCLR001 - PCLRF91 PCLR0001 - PCLR4E11 | ------ |  | *12 *15
Absolute Coordinate Movement | ------ | ------ | ACM0 - ACMC | *16
Relative Coordinate Movement | ------ | ------ | RCM0 - RCMC | *17
Jogging/Inching Movement | ------ | ------ | JIM0 - JIM6 | *18
Point Number Movement | ------ | PNM0 - PNM5 | ------ | *19
Point Data | ------ | ------ | PD00 - PD9E | *20
Servo | ------ | SV0 - SV2 | ------ | *21
Return to Origin | ------ | RO0 - RO3 | ------ | *22
Operation Stop/Cancel | ------ | OSC0 - OSC2 | ------ | *23
Coordinate Affiliate Data | ------ | ------ | CD0000 - CD1FFF | *1 *24
Simple Interference Check Zone Data | ------ | ------ | SD010 - SDFFF | *1 *25
Scara Absolute Coordinate Movement | ------ | ------ | SACM0 - SACMD | *26
Scara Relative Coordinate Movement | ------ | ------ | SRCM0 - SRCMD | *27
Scara Point Number Movement | ------ | SPNM0 - SPNM6 | ------ | *28
Feedback Current*29 | ------ | FC0 - FCA | ------ | *1 *30
Task Status | ------ | TAST00 - TAST80 | ------ | *1 *31
Flash ROM | ------ | FR0 | ------ | *12 *32

*1 Write disable

*2 The flag device descriptions are shown below.

Address Configuration |  | Description
| (1) | Program number: Global area (000) Local area (001 to 128)
(2) | Flag number: Global area (600 to 899) Local area (900 to 999)

*3 The integer valuables device descriptions are shown below.

Address Configuration |  | Description
| (1) | Program number: Global area (000) Local area (001 to 128)
(2) | Variable number: Global area (0200 to 0299,1200 to 1299) Local area (0001 to 0099,1001 to 1099)

*4 The real valuables device descriptions are shown below.

Address Configuration |  | Description
| (1) | Program number: Global area (000) Local area (001 to 128)
(2) | Variable number: Global area (0300 to 0399,1300 to 1399) Local area (0100 to 0199,1100 to 1199)

*5 The string valuables device descriptions are shown below.

Address Configuration |  | Description
| (1) | Program number: Global area (000) Local area (001 to 128)
(2) | Variable number: Global area (300 to 998 (only even)) Local area (001 to 299 (only odd))

*6 The axis status device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: AXST00 to AXST05: Single-axis status 00: Axis status Bit 7 (Reserved for system use) Bit 6 (Reserved for system use) Bit 5 (Push error detection): 0 = Not detected / 1 = Detected Bit 4 (Operation command successful completion): 0 = Not yet complete / 1 = Completed successfully * Can be used only for completion check after an operation command. Bit 3 (Servo): 0 = OFF / 1 = ON Bit 1-2 (Origin return): 0 = Not yet performed / 1 = Returning to origin / 2 = Completed Bit 0 (Servo axis in use): 0 = Not in use / 1 = In use (moving, etc.) * "Servo axis in use" indicates that a given task has the right to use the applicable axis. Therefore, this bit will turn ON in the following conditions: - When an operation command involving axis movement is in progress (including when an axis is moving) - Servo is starting up from an OFF state - Servo is shutting down from an ON state (excluding emergency stop) - Operation axis is paused 01: Axis sensor input status Bit 3 (Reserved for system use) Bit 2 (Origin sensor): 0 = OFF / 1 = ON Bit 1 (Overrun sensor): 0 = OFF / 1 = ON Bit 0 (Creep sensor): 0 = OFF / 1 = ON 02: Axis error code 03: Encoder status Bit 7 (Battery alarm (BA)) Bit 6 (Battery error (BE)) Bit 5 (Multi-rotation error (ME)) Bit 4 (Reserved for system use) Bit 3 (Counter overflow (OF)) Bit 2 (Count error (CE)) Bit 1 (Full absolute status (FS)) Bit 0 (Overspeed (OS)) 04: Current position (L) unit (0.001mm) Indicates the lower 16 bits of the current position in Hex. 05: Current position (H) unit (0.001mm) Indicates the upper 16 bits of the current position in Hex. AXST06 to AXST11: Double axes status ... AXST42 to AXST47: Eight axes status

*7 The Scara axis status device descriptions are shown below.

Address Configuration |  | Description
| (1) | Unit type (0 to F) Bit 3 (Reserved for system use) Fixed to 0 Bit 2 (Reserved for system use) Fixed to 0 Bit 0-1 (Scara axis current position type): 0 = Base coordinate system / 1 = Selected work coordinate system / 2 = Reserved for system use / 3 = Each axis system
(2) | Obtained data: 00: Work coordinate system selection number 01: Tool coordinate system selection number 02: Common axis status Bit 7 (Reserved for system use) Bit 6 (Reserved for system use) Bit 5 (Reserved for system use) Bit 4 (Reserved for system use) Bit 2-3 (Scara axis current position coordinate system type): 0 = Base coordinate system / 1 = Selected work coordinate system / 2 = Reserved for system use / 3 = Each axis system Bit 0-1: (Scara axis current arm system): 0 = Right arm system / 1 = Left arm system / 2 = Indeterminable / 3 = Reserved for system use 03: Axis pattern 04 to 09: Single-axis status 04: Axis status Bit 7 (Reserved for system use) Bit 6 (Reserved for system use) Bit 5 (Push error detection): 0 = Not detected / 1 = Detected Bit 4 (Operation command successful completion): 0 = Not yet complete / 1 = Completed successfully * Can be used only for completion check after an operation command. (For positioning that includes any of the X, Y and R axes, be sure to check completion for all of the X, Y and R axes.) Bit 3 (Servo): 0 = OFF / 1 = ON Bit 1-2 (Origin return): 0 = Not yet performed / 1 = Returning to origin / 2 = Completed Bit 0 (Servo axis in use): 0 = Not in use / 1 = In use (moving, etc.) * "Servo axis in use" indicates that a given task has the right to use the applicable axis. Therefore, this bit will turn ON in the following conditions: - When an operation command involving axis movement is in progress (including when an axis is moving) - Servo is starting up from an OFF state - Servo is shutting down from an ON state (excluding emergency stop) - Operation axis is paused 05: Axis sensor input status Bit 3 (Reserved for system use) Bit 2 (Origin sensor): 0 = OFF / 1 = ON Bit 1 (Overrun sensor): 0 = OFF / 1 = ON Bit 0 (Creep sensor): 0 = OFF / 1 = ON 06: Axis error code 07: Encoder status Bit 7 (Battery alarm (BA)) Bit 6 (Battery error (BE)) Bit 5 (Multi-rotation error (ME)) Bit 4 (Reserved for system use) Bit 3 (Counter overflow (OF)) Bit 2 (Count error (CE)) Bit 1 (Full absolute status (FS)) Bit 0 (Overspeed (OS)) 08: Current position (L) unit (0.001mm or 0.001deg) Indicates the lower 16 bits of the current position in Hex. 09: Current position (H) unit (0.001mm or 0.001deg) Indicates the upper 16 bits of the current position in Hex. 0A to 0F: Double axes status ... 2E to 33: Eight axes status 34 to FF: Reserved for system use

*8 The version device descriptions are shown below.

Address Configuration |  | Description
| (1) | Unit type (0 to 3) 0= Main CPU application/1 = Main CPU core / 2= Driver CPU / 3 = Mount SIO
(2) | Device number (0 to F) 0: Axis #1 1: Axis #2 2: Axis #3 3: Axis #4 4: Axis #5 5: Axis #6 * Fixed to 0 for all Unit types except 2
(3) | Obtained data: 0: Model code 1: Unit code 2: Version number 3: Time (year) 4: Time (month) 5: Time (day) 6: Time (hour) 7: Time (min) 8: Time (sec) 9 to F: Reserved for system use

*9 The device descriptions of error detail 0 through error detail 7 are shown below.

Address Configuration |  | Description
| (1) | Type 1 0 = System error /1 = Axis-specific error / 2 = Program-specific error / 3 = Error in error list record / 4 or later = Reserved for system use
(2) | Type 2 (0 to FF) System error: 0 = Critical level error / 1 = Latest error Axis-specific error: Axis number Program-specific error: Program number Error in error list record: Record number (1 to )
(3) | Reserved for system use
(4) | Obtained data: 00: Error number 01: Detail information 1 Other than system-down level error: Program number (Error source is indicated if the step number is not 0.) System-down level error: System down type 02: Detail information 2 Other than system-down level error: Step number (Error source) System-down level error: System down error code 03: Detail information 3 Other than system-down level error: Axis number System-down level error: System down information 1 04: Detail information 4 Other than system-down level error: Point number (Negative value at interpolation point) System-down level error: System down information 2 05: Detail information 5 06: Detail information 6 07: Detail information 7 08: Detail information 8 09: Message bytes 0A: Message 1 (4 bytes) 10: Message 2 (4 bytes) ... 49: Message 64 (4 bytes) 50 to FF: Reserved for system use

*10 The program status device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 000 to 003: Program number 1 status 000: Status Bit 3 (Reserved for system use) Bit 2 (Reserved for system use) Bit 1 (Reserved for system use) Bit 0 (Start): 0 = Not started / 1 = Started 001: Execution program step number 002: Program-dependent error code 003: Error occurrence step number 004 to 007: Program number 2 status ... 508 to 511: Program number 128 status

*11 The system status device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: System mode 0 = Indeterminable / 1 = AUTO mode / 2 = MANUAL mode / 3 = Slave update mode / 4 = Core update mode 1 Critical level system error number 2: Latest system error number 3: System status byte 1 Bit 7 (Reserved for system use) Bit 6 (Battery voltage error status) : 0 = No error / 1 = Error Bit 5 (Battery voltage low warning status): 0 = No low / 1 = Low Bit 4 (Power error status): 0 = Normal / 1 = Error Bit 3 (Emergency stop switch status): 0 = No emergency stop / 1 = Emergency stop Bit 2 (Safety gate status): 0 = CLOSE / 1 = OPEN * X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL: Enable switch (Deadman switch / Enable switch) status is indicated. Bit 1 (TP enable switch status): 0 = ON / 1 = OFF * X-SEL (P/Q Series) (Multi axes/Scara)/SSEL/ASEL/PSEL: This bit is disabled (fixed to 0). Bit 0 (Operation mode switch status): 0 = AUTO / 1 = MANUAL 4: System status byte 2 Bit 7 (Reserved for system use) Bit 6 (Reserved for system use) Bit 5 (Program run status): 0 = Not run / 1 = Running Bit 4 (Restart wait status): 0 = Not waiting / 1 = Waiting Bit 3 (I/O interlock status): 0 = No interlock / 1 = Interlock Bit 2 (Servo interlock status): 0 = No interlock / 1 = Interlock Bit 1 (Slave parameter writing status): 0 = Not writing / 1 = Writing Bit 0 (Application data flash ROM write status): 0 = Not writing/erasing / 1 = Writing/erasing * When the core program is in operation (Application update mode), only Bit 0 is enabled. Data for System mode, Critical level system error number, Latest system error number, System status byte 1, System status byte 3 and System status byte 4 is disabled. 5: System status byte 3 Bit 7 (Reserved for system use) Bit 6 (Reserved for system use) Bit 5 (Reserved for system use) Bit 4 (Operation mode): 0 = Program mode / 1 = Position mode Bit 3 (Reserved for system use) Bit 2 (System ready status): 0 = Not ready / 1 = Ready Bit 1 (System operation status): 0 = Not operating in AUTO mode / 1 = Operating in AUTO mode Bit 0 (Drive-source cutoff status): 0 = Not cut off / 1 = Cut off 6: System status byte 4 Reserved for system use

*12 Read disable

*13 The program control device sends different commands depending to write data.

Other write data than the following is processed as Private Error (0x80) inside the Display.

Write Data 0: Program Execution Command(0x253)

Write Data 1: Program Exit Command(0x254)

Write Data 2: Program Pause Command(0x255)

Write Data 3: Program 1 Step Execution Command(0x256)

Write Data 4: Program Restart Command(0x257)

For the word addresses from PRG001 to PRG128, the above-shown commands are sent to the program numbers from 1 to 128, respectively.

For PRG000, commands are sent to all the running program numbers. However, "Program Execution Command" and "Program 1 Step Execution Command" cannot be used for PRG000.

*14 In the event of SR (Software Reset), displays no response error after no communication for 20 seconds, and restarts communication.

*15 Specifies the word address only for the value of which the last one digit is 1.

*16 The absolute coordinate movement device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern 2: Acceleration unit (0.01G) The parameter value becomes enabled when it is zero. 3: Deceleration unit (0.01G) The parameter value becomes enabled when it is zero. 4: Speed unit (mm/sec) The parameter value becomes enabled when it is zero. (Safety limit is applied depending on the mode.) 5 to C: Absolute coordinate data unit (0.001mm)

*17 The relative coordinate movement device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern 2: Acceleration unit (0.01G) The parameter value becomes enabled when it is zero. 3: Deceleration unit (0.01G) The parameter value becomes enabled when it is zero. 4: Speed unit (mm/sec) The parameter value becomes enabled when it is zero. (Safety limit is applied depending on the mode.) 5 to C: Relative coordinate data unit (0.001mm)

*18 The jogging/inching movement device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern Only single Scara axis can be specified for the Scara type (Multipule axes can be specified). For the Scara type, a jogging/inching command can be issued only when none of the servo axes are operating. X-SEL-PX/QX Series: The Scara and translation axes cannot be specified simultaneously. 2: Acceleration unit (0.01G [for each axis, in %]) The parameter value becomes enabled when it is zero. 3: Deceleration unit (0.01G [for each axis, in %]) The parameter value becomes enabled when it is zero. 4: Speed unit (mm/sec [for each axis, in %]) The parameter value becomes enabled when it is zero. (Safety limit is applied depending on the mode.) 5: Inching distance unit (0.001mm [for each axis, in 0.001deg]) Specify with the absolute value. Distance is not specified if it is zero (=jogging). 6: Operation type Bit 3 (Reserved for system use) Fixed to 0 Bit 1-2 (Jogging/inching coordinate system (Scara only)): 0 = Base coordinate system / 1 = Selected work coordinate system / 2 = Selected tool coordinate system / 3 = Each axis system Bit 0 (Jogging/inching direction): 0 = Negative direction on coordinate axis / 1 = Positive direction on coordinate axis

*19 The point number movement device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern 2: Acceleration unit (0.01G) The applicable setting value in the position data becomes enabled when the acceleration setting is zero. If both above setting values are zero, the parameter setting value is enabled. 3: Deceleration unit (0.01G) The applicable setting value in the position data becomes enabled when the deceleration setting is zero. If both above setting values are zero, the parameter setting value is enabled. 4: Speed unit (mm/sec) The applicable setting value in the position data becomes enabled when the speed setting is zero. If both above setting values are zero, the parameter setting is enabled. (Safety limit is applied depending on the mode.) 5: Point number

*20 The point data device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 00: Command trigger 1 =Write / 2 =Read / 4 =Clear 01: Starting point number 02: Number of point data 03 to 0F: Point data 1 03: Point number 04: Axis pattern 05: Acceleration unit (0.01G) 06: Deceleration unit (0.01G) 07: Speed unit (mm/sec) 08 to 0F: Position data unit (0.001 mm) 08: 1st axis position data ... 0F: 8th axis position data 10 to 1C: Point data 2 ... 92 to 9E: Point data 12

*21 The servo device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern 2: Operation type Bit 3 (Reserved for system use) Fixed to 0 Bit 2 (Reserved for system use) Fixed to 0 Bit 1 (Reserved for system use) Fixed to 0 Bit 0 (Servo ON/OFF): 0 = OFF / 1 = ON

*22 The return to origin device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern X-SEL-PX/QX Series: Specify the translation axis only. 2: End search speed unit (mm/sec) The parameter value becomes enabled when it is zero. 3: Creap speed unit (mm/sec) The parameter value becomes enabled when it is zero.

*23 The operation stop/cancel device descriptions are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Stop axis pattern * Including servo command cancellation while interlock is pending. 2: Appended command byte Bit 7 (Reserved for system use) Fixed to 0 Bit 6 (Reserved for system use) Fixed to 0 Bit 5 (Reserved for system use) Fixed to 0 Bit 4 (Reserved for system use) Fixed to 0 Bit 3 (Reserved for system use) Fixed to 0 Bit 2 (Reserved for system use) Fixed to 0 Bit 1 (Reserved for system use) Fixed to 0 Bit 0 (Specification of output cancellation while interlock is pending (OUT port) (when all operations are paused)) :0 = Not canceled / 1 = Canceled tentatively

*24 The coordinate affiliate data device descriptions are shown below.

Address Configuration |  | Description
| (1) | Type 1 (0 to 1) 0 = Work coordinate system definition data / 1 = Tool coordinate system definition data
(2) | Coordinate system definition data number (00 to FF) Work/tool coordinate system definition data number (0 to )
(3) | Obtained data: 0: X axis coordinate offset 1: Y axis coordinate offset 2: Z axis coordinate offset 3: R axis coordinate offset 4 to F: Reserved for system use

*25 The device descriptions of simple interference check zone data are shown below.

Address Configuration |  | Description
| (1) | Definition data number (1 to FF)
(2) | Obtained data: 0: Effective axis pattern 1 to 4: Simple interference check zone definition coordinate 1 unit (0.001 mm (R axis: 0.001 deg)) 1: X-axis definition coordinate 2: Y-axis definition coordinate 3: Z-axis definition coordinate 4: R-axis definition coordinate 5 to 8: Simple interference check zone definition coordinate 2 unit (0.001 mm (R axis: 0.001 deg)) 9: Physical output port number or global flag number for output upon entry A: Entry error type specification 0 = No error handling / 1 = Message-level error / 2 = Operation-cancellation level error B to F: Reserved for system use

*26 The device descriptions of Scara absolute coordinate movement are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern X-SEL-PX/QX Series: The Scara and translation axes cannot be specified simultaneously (the translation axis can be specified). 2: Acceleration unit (% or 0.01G) The parameter value becomes enabled when it is zero. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 3: Deceleration unit (% or 0.01G) The parameter value becomes enabled when it is zero. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 4: Speed unit (% or mm/sec) The parameter value becomes enabled when it is zero. (Safety limit is applied depending on the mode.) * Unit: Movement control = PTP: [%] / Movement control = CP: [mm/sec] 5: Positioning operation type (No Scara axis disabled) Bit 7 (Reserved for system use) Fixed to 0 Bit 6 (Reserved for system use) Fixed to 0 Bit 5 (Reserved for system use) Fixed to 0 Bit 3-4 (PTP target arm system specification type (Always move current arm system if CP)) : 0 = Current arm system (Movement of opposite arm system prohibited if unfeasible) / 1 = Current arm system (Movement of opposite arm system permitted if unfeasible) / 2 = Right arm system (Movement of opposite arm system prohibited if unfeasible) / 3 = Left arm system (Movement of opposite arm system prohibited if unfeasible) Bit 1-2 (Movement coordinate system): 0 = Reserved for system use / 1 = Selected work coordinate system / 2= Reserved for system use / 3 = Reserved for system use Bit 0 (Movement control): 0 = PTP / 1 = CP 6 to D: Absolute coordinate data unit (0.001mm)

*27 The device descriptions of Scara relative coordinate movement are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern X-SEL-PX/QX Series: The Scara and translation axes cannot be specified simultaneously (the translation axis can be specified). 2: Acceleration unit (% or 0.01G) The parameter value becomes enabled when it is zero. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 3: Deceleration unit (% or 0.01G) The parameter value becomes enabled when it is zero. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 4: Speed unit (% or mm/sec) The parameter value becomes enabled when it is zero. (Safety limit is applied depending on the mode.) * Unit: Movement control = PTP: [%] / Movement control = CP: [mm/sec] 5: Positioning operation type (No Scara axis disabled) Bit 7 (Reserved for system use) Fixed to 0 Bit 6 (Reserved for system use) Fixed to 0 Bit 5 (Reserved for system use) Fixed to 0 Bit 3-4 (PTP target arm system specification type (Always move current arm system if CP)) : 0 = Current arm system (Movement of opposite arm system prohibited if unfeasible) / 1 = Current arm system (Movement of opposite arm system permitted if unfeasible) / 2 = Right arm system (Movement of opposite arm system prohibited if unfeasible) / 3 = Left arm system (Movement of opposite arm system prohibited if unfeasible) Bit 1-2 (Movement coordinate system): 0 = Reserved for system use / 1 = Selected work coordinate system / 2= Reserved for system use / 3 = Reserved for system use Bit 0 (Movement control): 0 = PTP / 1 = CP 6 to D: Relative coordinate data unit (0.001mm)

*28 The device descriptions of Scara point number movement are shown below.

Address Configuration |  | Description
| (1) | Obtained data: 0: Command trigger 1 =Write / 4 =Clear 1: Axis pattern Used under an AND conditions with the axis pattern of the point number X-SEL-PX/QX Series: The Scara and translation axes cannot be specified simultaneously (the translation axis can be specified). 2: Acceleration unit (% or 0.01G) The applicable setting value in the position data becomes enabled when the acceleration setting is zero. If both above setting values are zero, the parameter setting is enabled. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 3: Deceleration unit (% or 0.01G) The applicable setting value in the position data becomes enabled when the deceleration setting is zero. If both above setting values are zero, the parameter setting is enabled. * Unit: Movement control = PTP: [%] / Movement control = CP: [0.01G] 4: Speed unit (% or mm/sec) The applicable setting value in the position data becomes enabled when the speed setting is zero. If both above setting values are zero, the parameter setting is enabled. (Safety limit is applied depending on the mode.) * Unit: Movement control = PTP: [%] / Movement control = CP: [mm/sec] 5: Positioning operation type (No Scara axis disabled) Bit 7 (Reserved for system use) Fixed to 0 Bit 6 (Reserved for system use) Fixed to 0 Bit 5 (Reserved for system use) Fixed to 0 Bit 3-4 (PTP target arm system specification type (Always move current arm system if CP)) : 0 = Current arm system (Movement of opposite arm system prohibited if unfeasible) / 1 = Current arm system (Movement of opposite arm system permitted if unfeasible) / 2 = Right arm system (Movement of opposite arm system prohibited if unfeasible) / 3 = Left arm system (Movement of opposite arm system profibited if unfeasible) Bit 1-2 (Movement coordinate system): 0 = Reserved for system use / 1 = Selected work coordinate system / 2= Reserved for system use / 3 = Reserved for system use Bit 0 (Movement control): 0 = PTP / 1 = CP 6: Point number

*29 External Devices that support Feedback Current are shown below:

X-SEL-P/Q Controller (Main Application Ver.0.40 or later)

X-SEL-PX/QX Controller (Main Application Ver.0.17 or later), Axis 5 and 6 of Direct Movement Axis

SSEL Controller (Main Application Ver.0.08 or later)

ASEL Controller (Main Application Ver.0.06 or later)

PSEL Controller (Main Application Ver.0.06 or later)

*30 The device descriptions of Feedback current are shown below. You can calculate the amount of feedback current with the following formula.

[Amount of feedback current] = [Rated current of axis] x [Value of FC device] / 4096

Address Configuration |  | Description
| (1) | Obtained data: 0: Axis pattern 1: System TICK (L) 2: System TICK (H) 3: Axis-1 Feedback current (Unit: Rated current ratio 1/4096) 4: Axis-2 Feedback current (Unit: Rated current ratio 1/4096) 5: Axis-3 Feedback current (Unit: Rated current ratio 1/4096) 6: Axis-4 Feedback current (Unit: Rated current ratio 1/4096) 7: Axis-5 Feedback current (Unit: Rated current ratio 1/4096) 8: Axis-6 Feedback current (Unit: Rated current ratio 1/4096) 9: Axis-7 Feedback current (Unit: Rated current ratio 1/4096) A: Axis-8 Feedback current (Unit: Rated current ratio 1/4096)

*31 The device descriptions of Task status are shown below

Address Configuration |  | Description
| (1) | Obtained data: 00: Executed task count (01 to 05: Single-task status) 01: Task status byte Bit 7 (Reserved for system use) Bit 6 (CANC input status) Bit 5 (HOLD input status) Bit 4 (WAIT progress) Bit 3 (Stopping executed) Bit 0-2 (Reserved for system use) 02: Reserved for system use 03: Executed No. 04: Executed step No. 05: Error generation step No. ... (76 to 80: 16-task status) 76: Task status byte Bit 7 (Reserved for system use) Bit 6 (CANC input status) Bit 5 (HOLD input status) Bit 4 (WAIT progress) Bit 3 (Stopping executed) Bit 0-2 (Reserved for system use) 77: Reserved for system use 78: Executed No. 79: Executed step No. 80: Error generation step No.

*32 The device descriptions of Flash ROM are shown below

When "0" is written for an address, the External Device processes Bit0 to Bit3 as "1" (Specified). Be sure to write "0" for an address in the case of Flash ROM8Mbit version. It takes 30 seconds (Max.) in the writing of Flash ROM. Do not turn off the power of the External Device during the writing. The Display does not communicate with the External Device that is in the writing process.

The unit code value of the VR device is "70H" in the model of the Flash ROM8Mbit version.

Address Configuration |  | Description
| (1) | 0: Data type Bit 3 (Parameter) : 0 = Not specified / 1= Specified Bit 2 (Point-data, Coordinate system definition data (Scara only)): : 0 = Not specified / 1= Specified Bit 1 (Symbol-definition table) : 0 = Not specified / 1= Specified Bit 0 (SEL language program) : 0 = Not specified / 1= Specified

*33 64-bit Float data on the External Device, but Display handles it as 32-bit Float data.

NOTE

- Please refer to the precautions on manual notation for icons in the table.

Supported Devices Symbol and Terms