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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-11 Manufacturer Specific Objects
• This object gives the present state of the Servo Drive.
Explanation of Settings
• If an unsupported bit is read, the value will be undefined.
Bit 0: Origin Position (ZPOINT)
This bit is 1 when Position actual value (6064 hex) is within the Origin Range (3803 hex) after
homing is completed. In the absolute mode, homing is completed when the control power is
turned ON or when the Config operation is completed.
4000 hex
Statusword 1
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
0000 hex Data
attribute
–
Size 2 bytes (U16) Access RO PDO map Possible
Bit Name Symbol
Value
Description
Support in each mode
Position Speed Force
0 Origin Position ZPOINT 0 Outside origin range 333
1 Within origin range
1 Distribution
completed
DEN 0 Distributing 3 ––
1 Distribution completed
2 Zero Speed
Detected
ZSP 0 Zero speed not detected 333
1 Zero speed detected
3 Force Limit
applied
TLIMT 0 Force limit not applied 333
1 Force Limit applied
4 Speed Limit VLIMT 0 Speed limit not detected during
force control
––3
1 Speed limit detected during force
control
5 Positive
Software Limit
PSOT 0 Outside limit range 333
1 Within limit range
6 Negative
Software Limit
NSOT 0 Outside limit range 333
1 Within limit range
7 Speed
Conformity
VCMP 0 No speed conformity during
speed control
– 3 –
1 Speed conformity during speed
control
8 Positioning
Completed 2
INP2 0 Outside positioning proximity
range during positioning control
3 ––
1 Within positioning proximity range
during positioning control
9 Switched on CMDRDY 0 Commands cannot be accepted
during processing
333
1 Commands can be accepted
10 to
15
Reserved – – – – – –
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