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4 APPLICABLE FUNCTIONS
4.5 Machine diagnosis
Related objects [G]
For details on the objects, refer to the User's Manual (Object Dictionary).
*1 When warning conditions for 2 to 6 are established at the same time, the smallest number is returned.
*2 Once an estimation finishes even after a warning has occurred, the status will change to "Estimation has finished".
index Sub Object Name Description
2C20h 0 VAR Machine diagnostic status The machine diagnostic status is returned.
[Bit 0 to 3: Friction estimation status at forward rotation]
*1*2
0: Estimation in progress. (normal)
1: Estimation has finished. (normal)
2: The motor may have rotated/traveled more frequently in one
direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be too small for friction
estimation. (warning)
5: The acceleration/deceleration time constants may be too short for
friction estimation. (warning)
6: The operation time may be insufficient. (warning)
[Bit 4 to 7: Friction estimation status at reverse rotation]
*1*2
0: Estimation in progress. (normal)
1: Estimation has finished. (normal)
2: The motor may have rotated/traveled more frequently in one
direction than the other. (warning)
3: The servo motor speed may be too slow for friction estimation.
(warning)
4: The change in the servo motor speed may be too small for friction
estimation. (warning)
5: The acceleration/deceleration time constants may be too short for
friction estimation. (warning)
6: The operation time may be insufficient. (warning)
[Bit 8 to 11: Vibration estimation status]
0: Estimation in progress.
1: Estimation has finished.
[Bit 12 to 15: reserved]
2C21h 0 VAR Static friction torque at forward
rotation
The static friction at forward rotation torque is returned.
Unit: 0.1 % (with rated torque being 100 %)
2C22h 0 VAR Dynamic friction torque at forward
rotation (at rated speed)
The dynamic friction at forward rotation torque at the rated speed is
returned.
Unit: 0.1 % (with rated torque being 100 %)
2C23h 0 VAR Static friction torque at reverse
rotation
The static friction at reverse rotation torque is returned.
Unit: 0.1 % (with rated torque being 100 %)
2C24h 0 VAR Dynamic friction torque at reverse
rotation (at rated speed)
The dynamic friction at reverse rotation torque at the rated speed is
returned.
Unit: 0.1 % (with rated torque being 100 %)
2C25h 0 VAR Oscillation frequency during
motor stop
The vibration frequency during stop/servo-lock is returned.
Unit: [Hz]
2C26h 0 VAR Vibration level during motor stop The vibration level during stop/servo-lock is returned.
Unit: 0.1 % (with rated torque being 100 %)
2C27h 0 VAR Oscillation frequency during
motor operating
The vibration frequency during operation is returned.
Unit: [Hz]
2C28h 0 VAR Vibration level during motor
operating
The vibration level during operation is returned.
Unit: 0.1 % (with rated torque being 100 %)
2C31h 0 VAR Friction estimate status The progress of friction estimation is returned.
Unit: [%]
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