A - 53
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-1 CiA402 Drive Profile
A
A-1-11 Manufacturer Specific Objects
Bit 5: Positive Software Limit (PSOT) and Bit 6: Negative Software Limit (NSOT)
PSOT is “1” when the Position actual value is greater than the set value of the Max position limit
(607D hex, Sub-index: 02 hex).
NSOT is “1” when the Position actual value is less than the set value of the Min position limit
(607D hex, Sub-index: 01 hex).
The value is “0” when the Software Position Limit Function (3801 hex) is disabled and when
homing is not attained.
Bit 7: Speed Agreement (VCMP)
This bit operates as the Speed Conformity (VCMP).
VCMP is 1 when the absolute value of the difference between the command speed before
acceleration limit and the Velocity actual value is less than the Speed Conformity Detection
Range (3435 hex).
Precautions for Correct UsePrecautions for Correct Use
• The position error in external encoder pulses can be set as the threshold value for the external
output signal INP1 output from the Position Setting Unit Selection (3520 hex). However, this
signal is always in command units.
The set values of Positioning Completion Condition Selection (3432 hex) and Positioning
Completed Hold Time (3433 hex) do not affect this signal. Therefore, there may be differences
in the judgement conditions for INP1 and Target reached (6041 hex bit 10), i.e., when an
electronic gear is set.
• This bit is forced to “0” when the Target velocity ignored (6041 hex, bit 12) flag is “0” during
deceleration processing for the drive prohibition input.
Bit 8: Positioning Proximity (NEAR)
Only during position control, this bit operates as the Positioning Proximity (NEAR).
NEAR will be “1” when the absolute value of the position error converted to command units is
less than the Position Completion Range 2 (3442 hex) regardless of whether position command
distribution is completed.
Bit 9: Servo Ready (CMDRDY)
This bit indicates if command reception is possible or not possible.
When Servo Ready is “0”, one of the following operations is being processed. It changes to “1”
when all processing has been completed.
• Writing to object using SDO mailbox communications.
• Executing Config (4100 hex).
• Resetting Warning/Error.
• Executing Error History Clear (2100 hex).
• Executing Backup parameter changed (10F0 hex, 02 hex).
• Executing Save all parameters (1010 hex, 01 hex).
• Executing Restore all default parameters (1011 hex, 01 hex).
• From when a Servo ON command (Enable operation) is accepted until the Servo ON state is
reached.
• From when a Servo OFF command (Disable operation, Shutdown, or Disable Voltage) is
accepted until the Servo OFF state is reached.
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