6.5 Command Data Field
6-51
6.5.3 Status Field Specifications: STATUS
The status field is used to monitor the Servo status with the third to fourth byte reserved area of the main
commands.
Refer to the following table for details on bit allocation.
• Status Field
D7 D6 D5 D4 D3 D2 D1 D0
PSET/
VCMP
ZPOINT MLOCK PON SVON CMDRDY WARNG ALM
D15 D14 D13 D12 D11 D10 D9 D8
−−N_SOT P_SOT NEAR/
V_LIM
L_CMP T_LIM DEN/
ZSPD
Bit Name Description Set
Value
Details Control
Mode
D0 ALM Alarm occurrence
0
None
1
Alarm occurs.
D1 WARNG Warning occurrence
0
None
1
Warning occurs.
D2 CMDRDY Command ready
0
Command cannot be received
(busy).
1
Command can be received
(ready).
D3 SVON Servo ON
0
Servo OFF
1
Servo ON
D4 PON Main power supply ON
0
Main power supply OFF
1
Main power supply ON
D5 MLOCK Machine lock status (always
released)
0
Machine lock released
D6 ZPOINT Home position
0
Out of home position range
1
Within home position range
D7 PSET Positioning completion
Output completion (DEN is set to 1)
and APOS is within the positioning
complete range
0
Out of positioning complete
range
Position
control mode
1
Within positioning complete
range
V-CMP Speed coincides.
0
Speed dose not coincide. Speed
control mode
1
Speed coincides.
D8 DEN Output completion
0
During output Position
control mode
1
Output completed
ZSPD Zero speed
0
Zero speed not detected Speed
control mode
1
Zero speed detected
D9 T_LIM Torque limit
0
Not during torque limit
1
During torque limit
D10 L_CMP Latch completion
0
Latch not completed
1
Latch completed
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