Omron R88D-KN series User Manual

Appendicies
A-50
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• This object gives the present state of the Servo Drive.
Description of Settings
• If an unsupported bit is read, the value will be undefined.
4000 hex
Statusword 1
Range 0000 to
FFFF hex
Unit  Default 0000 hex Attribute 
Size 2 bytes (U16) Access RO PDO map Possible
Bit Name Symbol Code Description
Support in each mode
Position Speed Force
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
ZSP 0 Zero speed not detected
❍❍❍
1 Zero speed detected
3 Force Limit
Applied
TLIMT 0 Force limit not applied
❍❍❍
1 Force limit applied
4 Speed Limit VLIMT 0 Speed limit not detected during force
control

❍
1 Speed limit detected during force
control
5 Positive
Software Limit
PSOT 0 Outside limit range
❍❍❍
1 Within limit range
6 Negative
Software Limit
NSOT 0 Outside limit range
❍❍❍
1 Within limit range
7 Speed
Conformity
VCMP 0 No speed conformity during speed
control

❍

1 Speed conformity 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 CMDRDY 0 Commands cannot be accepted
during processing
❍❍❍
1 Commands can be accepted
10 to
15
Reserved   
All

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English