9 Details on Servo Parameters
9 - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
• Gives the status of the Servo Drive.
Description of Set Values
*1. The Error Clear Attribute Output (ERR-ATB) gives 0 when there is no error.
Subindex 81 hex: Function Status
Set value Description
Bit 0 Origin Position (ZPOINT)
0 Outside origin range
1 Within origin range
Bit 1 Distribution Completed (DEN)
0 Distribution not completed
1 Distribution completed
Bit 2 Zero Speed Detected (ZSP)
0 Zero speed not detected
1 Zero speed detected
Bit 3 Torque Limit Applied (TLMT)
0 Torque limit not applied
1 Torque limit applied
Bit 4 Velocity Limit (VLMT)
0 Velocity limit not applied
1 Velocity limit applied
Bit 5 Positive Software Limit (PSOT)
0 Within limit value
1 Outside limit value
Bit 6 Negative Software Limit (NSOT)
0 Within limit value
1 Outside limit value
Bit 7 Velocity Conformity (VCMP)
0 No velocity conformity
1 Velocity conformity
Bit 8 Positioning Completion Output 2 (INP2)
0 The present position is outside the range of Positioning Completion Output 2.
1 The present position is within the range of Positioning Completion Output 2.
Bit 9 Velocity Attainment Detection Output (TGON)
0 The motor velocity does not reach the velocity attainment detection value.
1 The motor velocity reached the velocity attainment detection value.
Bit 10 Position Command Status Output (PCMD)
0 Position command not changed
1 Position command changed
Bit 11
Error Clear Attribute Output (ERR-ATB)
*1
0 An error which must be reset by the restart function (Control power supply OFF/ON, Unit
Restart) exists.
1 An error which can be reset exists.
Bit 12 Homing completion state
0 Homing non-completion state
1 Homing completion state
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