Appendices
A - 52
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Bit 1: Distribution Completed (DEN)
This bit shows Distribution Completed (DEN) for the position command.
DEN is “1” under the following conditions:
Bit 2: Zero Speed Detected (ZSP)
This bit shows Zero Speed (ZSPD).
ZSPD is “1” when the absolute velocity actual value is less than Zero Speed Detection
(3434 hex).
Bit 3: Force Limit (TLIM)
T_LIM is “1” during force limit. T_LIM is “0” when the servo is OFF.
The judgment conditions during force limit can be changed in the Force Limit Flag Output Setting
(3703 hex).
Bit 4: Speed Limit (VLIMT)
This bit shows Speed Limiting (VLIMT).
VLIMT is “1” when the speed is being limited.
The speed limiting operation varies according to the value set in the Speed Limit Selection
(3317 hex).
Precautions for Correct Use
Precautions for Correct Use
•
The position error in external encoder pulses can be set as the threshold value for the external
output signal INP2 output from the Position Setting Unit Selection (3520 hex). However, this
signal is always in command units.
Therefore, there may be differences in the judgement conditions for INP2 and NEAR, i.e.,
when an electronic gear is set.
•
This bit is forced to “0” when the Target velocity ignored (6041 hex, bit 12) flag is “0” during
deceleration processing for the drive prohibition input.
For details, refer to Target value ignored or Homing attained on page A-57.
Mode
Conditions
csp mode
When the position command distribution amount before or after position
command filtering is “0” during the communications cycle.
hm mode
When the position command distribution amount before or after position
command filtering is “0” during the communications cycle when the NC built
into the servo amplifier has completed command distribution up to the target
position.
3703 hex set value
Description
0
“1” at force limit, including force command value
1
“1” at force limit, excluding force command value
3317 hex set value
Description
0
The speed is limited by the Speed Limit Value Setting (3321 hex).
1
The speed is limited by the value of the Speed Limit Value Setting (3321 hex)
or Max profile velocity (607F hex), whichever is the smaller.
