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3 POSITIONING DEDICATED SIGNALS
(h) Servo status1 (#8010+20n)
QDS
........................................... Monitor device
This register stores the servo status read from the servo amplifier.
b6b15 b14 b13 b12 b11 b10 b9 b8 b7 b5 b4 b3 b2 b1 b0
(Note): The 0/1 is stored in the servo status 1.
0: OFF
1: ON
#8010+20n
READY ON
Servo ON
Control mode
Servo alarm
In-position
Torque limit
Absolute position lost
Servo warning
Fully closed control changing
Gain changing
• READY ON (b0) .......................... Indicates the ready ON/OFF.
• Servo ON (b1) ............................. Indicates the servo ON/OFF.
• Control mode (b2, b3) ................. Indicates the control mode of the servo
amplifier.
b3 b2 Control mode
0 0 Position control mode
0 1 Speed control mode
1 0 Torque control mode
• Gain changing (b4) ..................... Turns ON when the servo amplifier is gain
changing.
• Fully closed control
changing (b5) .............................. Turns ON when the servo amplifier is
using fully closed loop control.
• Servo alarm (b7) ......................... Turn ON during the servo alarm.
• In-position (b12) .......................... The dwell pulse turns ON within the servo
parameter "in-position".
• Torque limit (b13) ........................ Turns ON when the servo amplifier is
having the torque restricted.
• Absolute position lost (b14) ........ Turns ON when the servo amplifier has
lost the absolute position.
• Servo warning (b15) ................... Turn ON during the servo warning.
POINT
Servo warning (b15) turns ON during Motion controller forced stop or servo forced
stop.
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