2 INPUT AXIS MODULE
2.2 Command Generation Axis
49
2
[Md.102] Deviation counter value
[Md.103] Motor rotation speed
[Md.104] Motor current value
[Md.108] Servo status1 b0: READY ON
b1: Servo ON
b2, b3: Control mode
b4: Gain switching
b5: Fully closed loop control
b7: Servo alarm
b12: In-position
b13: Torque limit
b14: Absolute position lost
b15: Servo warning
[Md.109] Regenerative load ratio/Optional data monitor output 1
[Md.110] Effective load torque/Optional data monitor output 2
[Md.111] Peak torque ratio/Optional data monitor output 3
[Md.112] Optional data monitor output 4
[Md.113] Semi/Fully closed loop status
[Md.114] Servo alarm
[Md.115] Servo alarm detail number
[Md.116] Encoder option information
[Md.117]Statusword
[Md.119] Servo status2 b0: Zero point pass
b3: Zero speed
b4: Speed limit
b8: PID control
[Md.120] Reverse torque limit stored value
[Md.122] Speed during command
[Md.123] Torque during command
[Md.124] Control mode switching status
[Md.125] Servo status3 b11: Touch probe 1 enabled
b14: Continuous operation to torque control
mode
b15: Unsupported control mode
[Md.126] Servo status4 b13: Touch probe 1 leading edge latch
completion toggle status
b14: Touch probe 1 trailing edge latch
completion toggle status
[Md.160] Optional SDO transfer result 1
[Md.161] Optional SDO transfer result 2
[Md.162] Optional SDO transfer result 3
[Md.163] Optional SDO transfer result 4
[Md.164] Optional SDO transfer status 1
[Md.165] Optional SDO transfer status 2
[Md.166] Optional SDO transfer status 3
[Md.167] Optional SDO transfer status 4
[Md.190] Controller position value restoration complete status
[Md.503] Pre-reading data analysis status
[Md.514] Home position return operating status
Name Servo amplifier axis Command generation axis
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