7.2 Motion Parameter Details
7-39
7
(12) SERVOPACK Status
IW
2C
Network Servo Status
Range Unit
−−
IW
2C Bit 0 Alarm Occurred (ALM)
OFF: No alarm occurred.
ON: Alarm occurred.
Bit 1 Warning Occurred (WARNING)
OFF: No warning occurred.
ON: Warning occurred.
Bit 2 Command Ready (CMDRDY)
OFF: Command cannot be received.
ON: Command can be received.
Bit 3 Servo ON (SVON)
OFF: Servo OFF.
ON: Servo ON.
Bit 4 Main Power ON (PON)
OFF: Main power OFF.
ON: Main power ON.
Bit 5 Machine Lock (MLOCK)
OFF: Machine lock mode released.
ON: Machine lock mode.
Bit 6 Zero Point Position (ZPOINT)
OFF: Outside Zero Point Position Range.
ON: In Zero Point Position Range.
Bit 7 Positioning Completed (PSET)
OFF: Outside Positioning Completed Width.
ON: In Positioning Completed Width (for position control).
Speed Coincidence (V-CMP)
OFF: Speed does not agree.
ON: Speed agrees (for speed control).
Bit 8 Distribution Completed (DEN)
OFF: Distributing pulses.
ON: Distribution completed (for position control).
Zero Speed (ZSPD)
OFF: Zero speed not detected.
ON: Zero speed detected (for speed control).
Bit 9 Torque Being Limited (T_LIM)
OFF: Torque not being limited.
ON: Torque being limited.
Bit A Latch Completed (L_CMP)
OFF: Latch not completed.
ON: Latch completed.
Bit B Position Proximity (NEAR)
OFF: Outside Position Proximity Range.
ON: In Position Proximity Range.
Speed Limit (V_LIM)
OFF: Speed limit not detected.
ON: Speed limit detected.
Bit C Positive Soft Limit (Positive Software Limit) (P_SOT)
OFF: In Positive Software Limit Range.
ON: Outside Positive Software Limit Range.
Bit D Negative Soft Limit (Negative Software Limit) (N_SOT)
OFF: In Negative Software Limit Range.
ON: Outside Negative Software Limit Range.
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