Omron OMNUC G5 Series

6-34
6-7 Object Dictionary
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
6
Drive Profile
 This object gives the present state of the Servo Drive.
Bit Descriptions
4000 hex
Statusword 1
Range 0000 to FFFF hex Unit − Default 0000 hex Attribute −
Size 2 bytes (U16) Access RO PDO map Possible
All
Bit Name Symbol Code Description
0 Origin Position ZPOINT
0 Outside origin range
1 Within origin range
1 Distribution Completed DEN
0 Distributing
1 Distribution Completed
2 Zero Speed Detected*
*1
*1. Not supported in Cyclic synchronous position mode (csp).
ZSP
0 Zero speed not detected
1 Zero speed detected
3 Torque Limit Applied TLIMT
0 Torque limit not applied
1 Torque Limit Applied
4 Speed Limit
*1
VLIMT
0
Speed limit not detected during
torque control
1
Speed limit detected during torque
control
5 Forward Software Limit PSOT
0 Outside limit range
1 Within limit range
6 Reverse Software Limit NSOT
0 Outside limit range
1 Within limit range
7 Speed Agreement
*1
VCMP
0
No speed agreement during speed
control
1
Speed agreement during speed
control
8 Positioning Completed 2 INP2
0
Outside positioning proximity range
during positioning control
1
Within positioning proximity range
during positioning control
9 Servo Ready
*2
CMDRDY
0
Commands cannot be accepted
during processing
1 Commands can be accepted
10 to 15 Reserved −− −