A-51
Appendices
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
A-1 CiA402 Drive Profile
App
A-1-11 Manufacturer Specific Objects
• This object gives the present state of the Servo Drive.
Bit Descriptions
• 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
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 Torque
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 Torque Limit
Applied
TLIMT 0 Torque limit not applied
1 Torque Limit Applied
4 Speed Limit VLIMT 0 Speed limit not detected during
torque control
××
1 Speed limit detected during torque
control
5Forward
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
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 CMDRDY 0 Commands cannot be accepted
during processing
1 Commands can be accepted
10 to
15
Reserved −− − −−−
All
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