10 OBJECT DICTIONARY
10.3 Object dictionary details (objects in the 2000s)
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10
• Bit definition of control DI10
Status DO (2D11h to 2D1Ah)
The on/off status of output device can be read. The following table lists readable output devices.
• Bit definition of status DO1
Bit
Symbol
Description
0
The value at reading is undefined. Set "0" when writing.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Index
Sub Index
Name
Data Type
Access
2D11h to
2D1Ah
0
Status DO1 to Status DO10
U16
ro
Bit
Symbol
Description
0
The value at reading is undefined.
1
S_ERF
EEP-ROM write completed
0: EEP-ROM write in process
1: EEP-ROM write completed
2
S_SA
Speed reached
SA turns 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.
3
S_MBR
Electromagnetic brake interlock
When a servo-off status or alarm occurs, S_MBR turns off.
4
S_CDPS
Variable gain selection
S_CDPS turns on during variable gain.
5
S_CLD
During fully closed loop control switching
S_CLD turns on during fully closed loop control.
6
The value at reading is undefined.
7
8
9
10
11
12
S_INP
In-position
When the number of droop pulses is in the in-position range, S_INP turns 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.
13
S_TLC
Limiting torque
When the torque reaches the torque limit value during torque generation, S_TLC turns on. When the servo is off, this turns
off.
14
S_ABSV
Absolute position undetermined
S_ABSV turns on when the absolute position is undetermined.
15
S_BWNG
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, S_BWNG will turn off in 2.5 s to 3.5 s after power-on.
