4.5 Command Data Field
96
4.5.3 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
Alarm (ALM)
Indicates alarm occurrence
.
Warning (WARNG)
Indicates the warning occurrence.
Command ready (CMDRDY)
Indicates whether the command can be received or not.
No command can be received if the SERVOPACK is in busy status. The SERVOPACK will continue exe-
cuting the previously received command.
Servo ON (SVON)
Indicates the servo ON/OFF status.
D7
D6
D5
D4
D3
D2
D1
D0
PSET
ZPOINT
−
PON
SVON
CMDRDY
WARNG
ALM
D15
D14
D13
D12
D11
D10
D9
D8
−
−
N_SOT
P_SOT
NEAR
L_CMP
T_LIM
DEN
D0
Status
0
No alarm (Normal)
1
Alarm occurred.
D1
Status
0
No warning (Normal)
1
Warning occurred.
D2
Status
0
Command cannot be received (busy).
1
Command can be received (ready).
D3
Status
0
Servo OFF
1
Servo ON
TOEP_C710806_03A_1_0.book Seite 96 Montag, 2. Juli 2007 3:55 15
