Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 253 / 274

10. OBJECT DICTIONARY
10 - 26
10.3.4 Status DO (2D11h to 2D1Ah)
Index
Sub
Index
Name Data Type Access
2D11h
to
2D1Ah
0 Status DO1 to Status DO10 U16 ro
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.
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.