YASKAWA S-7 Series, Command Manual, Page: 62 / 191

2.6 Servo Command I/O Signal (SVCMD_IO)
2.6.2 Bit Allocation of Servo Command I/O Signal Monitoring
2
Command Format
2-25
11
N_SOT Reverse Software Limit
0 Range of motion
1
Drive prohibited due to reverse
software limit
The software limit forcibly stops a movable machine unit if it moves beyond the software
limit range in the same manner as the overtravel function, with or without using P_OT and
N_OT (overtravel signals).
This is the status used to judge if the movable machine unit is in the Reverse Software
Limit state (common parameter: 28).
12
DEN
Distribution Completed
(Position Control Mode)
0 During distribution
1 Distribution completed
The status used to judge if the position reference from the servo drive has been completed
This bit is valid only in the position control mode.
13
NEAR
Near Position
(Position Control Mode)
0 Outside the near-position range
1 Within the near-position range
The status used to judge if the current position is within the range of the NEAR Signal
Width (common parameter: 67)
This bit is valid only in position control mode.
14
PSET
Positioning Completed
(Position Control Mode)
0
Outside the positioning comple-
tion range
1
Within the positioning completion
range
The status used to judge if the current position is within the range of the Positioning Com-
pleted Width (common parameter: 66)
This bit is valid only in the position control mode.
Refer to the following section for details.
5.9 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a
Motion Command
on page 5-15.
15
ZPOINT Zero Point
0
Outside the zero point position
range
1
Within the zero point position
range
The status used to judge if the current position is within the range of the Origin Detection
Range (common parameter: 8B)
16
T_LIM Torque Limit
0 Not in the torque limited state
1 In the torque limited state
The status used to judge if the torque is clamped at the Forward Toque Limit or the
Reverse Toque (force) Limit
17
V_LIM
Speed Limit
(Torque Control Mode)
0 Speed limit not detected
1 Speed limit detected
The status used to judge if the speed is clamped at the limit value specified in the com-
mand or parameter
This bit is valid only in the torque control mode.
18
V_CMP
Speed Match
(Speed Control Mode)
0 Speed not matched
1 Speed match
The status used to judge if the speed is within the Speed Match Signal Detection Range
(common parameter: 8F)
This bit is valid only in the speed control mode.
19
ZSPD Zero Speed
0 Zero speed not detected
1 Zero speed detected
The status used to judge if the current speed is within the Zero Speed Detection Range
(common parameter: 8E)
Continued on next page.
Continued from previous page.
Bit Name Description Value Setting