18．EtherCAT COMMUNICATION
Bit 0 to Bit 3, Bit 5, and Bit 6 are switched depending on the FSA state (internal state of the driver). Refer to
the following table for details.
Not ready to switch on (Note)
Statusword is not sent in the Not ready to switch on state.
18.5.3.2 Bit definition of Status DO
The following table shows the bit definition of Status DO.
(1) Status DO 1
The value at reading is undefined.
Speed reached
S_SA turns off during servo-off. When the servo motor speed reaches the following
range, S_SA turns on.
Preset speed ± ((Preset speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or slower, S_SA always turns on.
Electromagnetic brake interlock
When a servo-off status or alarm occurs, S_MBR turns off.
Variable gain selection
S_CDPS will turn on during variable gain.
During fully closed loop control switching
S_CLD turns on during fully closed loop control.
The value at reading is undefined.
In-position
When the number of droop pulses is in the in-position range, S_INP turns on. The
in-position range can be changed with [Pr. PA10]. When the in-position range is
increased, S_INP may be always on during low-speed rotation.
The Status DO cannot be used in the velocity mode or torque mode.
Limiting torque
When the torque reaches the torque limit value during torque generation, S_TLC turns
on. When the servo is off, S_TLC will be turned off.
This Status DO cannot be used in the torque mode.
Absolute position undetermined
When the absolute position is erased, S_ABSV turns on.
The Status DO cannot be used in the velocity mode or torque mode.
Battery warning
When [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has
occurred, S_BWNG turns on. When the battery warning is not occurring, turning on the
power will turn off S_BWNG after 2.5 s to 3.5 s.
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