20．PROFINET COMMUNICATION
(3) Bit definition of Status DO 1
Speed reached
SA will turn off during servo-off. When the servo motor speed reaches the following range, S_SA turns
on.
Set speed ± ((Set speed × 0.05) + 20) r/min
When the preset speed is 20 r/min or less, SA always turns on.
Electromagnetic brake interlock
0: Servo-off or at alarm occurrence
Variable gain selection
1: ON during gain switching
During fully closed loop control switching
S_CLD turns on during fully closed loop control.
In-position
When the number of droop pulses is in the in-position range, S_INP will turn on. The in-position range
can be changed with [Pr. PA10]. When the in-position range is increased, 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 will turn on. This will be
turned off at servo-off.
The Status DO cannot be used in the torque mode.
Absolute position undetermined
1: Absolute position is erased
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.
The values in bit 0, 1, and 6 to 11 at reading are undefined.
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