User manual of EL8-EC***F AC Servo
187
Definition of bit 8 and bit 6~4 in different operation modes are shown in the following table
Bit
Operation Mode
Profile
Position
(PP)
Profile
Velocity
(PV)
Profile
Torque
(PT)
Homing
(HM)
Cyclic
Sync
Positio
n (CSP)
Cyclic
Sync
Velocity
(CSV)
Cyclic
Sync
Torque
(CST)
8
Stop with
deceleratio
n
Stop with
deceleration
Stop with
deceleratio
n
Stop with
deceleratio
n
-
-
-
6
Absolute/
Increment
-
-
-
-
-
-
5
Immediatel
y trigger
-
-
-
-
-
-
4
New
Position
-
-
Start
-
-
-
5.4.8 Status Word
Bit definition of Status Word 6041h.
Bit
Definition
15~14
Reserved
13~12
Related to modes
11
Position limit valid
10
Position arrival
9
Distance
8
Related to modes
7
Reserved
6
Not switch on
5
Quick stop
4
Voltage output
3
Fault
2
Operation enable
1
Switch on
0
Ready to switch on
Bit 11 is valid when the software or hardware limit is in effect.
The combination of bit 6 and bit 3~0 represents the device state shown in following table
Combination of bit 6 and bit 3~0
Description
××××,××××,×0××,0000
Not ready to switch on
××××,××××,×1××,0000
Switch on disabled
××××,××××,×01×,0001
Ready to switch on
××××,××××,×01×,0011
Switch on
××××,××××,×01×,0111
Operation enabled
××××,××××,×00×,0111
Quick stop active
××××,××××,×0××,1111
Fault reaction active
××××,××××,×0××,1000
Fault
× is not affected by this bit state
