Mitsubishi Electric Q Series - Page 117

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4 POSITIONING DEDICATED SIGNALS
(i) Servo status2 (#8011+20n)
QDS
............................................. Monitor device
This register stores the servo status read from the servo amplifier.
(Note): The 0/1 is stored in the servo status 2.
0: OFF
1: ON
#8011+20n
b6b15 b14 b13 b12 b11 b10 b9 b8 b7 b5 b4 b3 b2 b1 b0
Zero point pass
Zero speed
Speed limit
PID control
• Zero point pass (b0)....................Turns ON if the zero point of the encoder
has been passed even once.
• Zero speed (b3) ..........................Turns ON when the motor speed is lower
than the servo parameter "zero speed."
• Speed limit (b4)...........................Turn ON during the speed limit in torque
control mode.
• PID control (b8)...........................Turn ON when the servo amplifier is PID
control.
(j) Servo status3 (#8012+20n)
QDS
............................................. Monitor device
This register stores the servo status read from the servo amplifier.
(Note): The 0/1 is stored in the servo status 3.
0: OFF
1: ON
b6b15b14b13b12b11b10b9b8b7 b5b4b3b2b1b0
#8012+20n
Continuous operation
to torque control mode
• Continuous operation to torque control mode (b14)
.....................................................Turn ON when the continuous operation
to torque control mode.
(2) Product information list devices (#8736 to #8751)
Ver.!
The operating system software version and serial number of Motion CPU is
stored in ASCII code.
The product information list devices are shown below.
Device No. Signal name Refresh cycle Fetch cycle Signal direction
#8736
to
#8743
Operating system software version
#8744
to
#8751
Motion CPU module serial number
At power on
Monitor device
Ver.!
: Refer to Section 1.4 for the software version that supports this function.