18．EtherCAT COMMUNICATION
Z-phase already passed
0: Z-phase unpassed after start-up
1: Z-phase passed once or more after start-up
The value at reading is undefined.
Zero speed detection
When the servo motor speed is at zero speed or slower, S_ZSP turns on. Zero speed
can be changed with [Pr. PC07].
Limiting speed
When the speed reaches the speed limit value in the torque mode, S_VLC turns on.
When the servo is off, S_TLC will be turned off.
The Status DO cannot be used in the position mode or velocity mode.
The value at reading is undefined.
During IPF
S_IPF turns on during an instantaneous power failure.
Under proportional control
S_PC turns on under proportional control.
The value at reading is undefined.
External dynamic brake output
When the dynamic brake needs to operate, S_DB turns off.
The value at reading is undefined.
Home position return completion 2 (incremental system)
When a home position return completes normally, S_ZP2 turns on. S_ZP2 is always on
unless the home position is erased.
It will be off with the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
Home position return completion 2 (absolute position detection system)
If a home position return completes once, S_ZP2 is always on. However, it will be off
with the following conditions.
1) [AL. 69 Command error] occurs.
2) Home position return is not being executed.
3) Home position return is in progress.
4) The home position return is not performed after [AL. 25 Absolute position erased] or
[AL. E3 Absolute position counter warning] occurred.
5) The home position return is not performed after the electronic gear ([Pr. PA06] or
[Pr. PA07]) was changed.
6) The home position return is not performed after the setting of [Pr. PA03 Absolute
position detection system selection] was changed from "Disabled" to "Enabled".
7) [Pr. PA14 Rotation direction selection] was changed.
8) [Pr. PA01 Operation mode] was changed.
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