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A - 51
Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-
1 CiA40
2 Drive Prof
ile
A
A-1
-11 Manu
factur
er Specific Objects
•
This object gives the present state of the Servo Drive.
Explanation of Settings
•
If an unsupported bit is read, the value will be undefined.
Bit 0: Origin Position (ZPOINT)
This bit is 1 when Position actual value (6064 hex) is within the Origin Range (3803 hex) after
homing is completed. In the absolute mode, homing is completed when the control power is
turned ON or when the Config operation is completed.
4000 hex
Statusword 1
Setting
range
0000 to FFFF hex
Unit
–
Default
setting
0000 hex
Data
attribute
–
Size
2 bytes (U16)
Access
RO
PDO map
Possible
Bit
Name
Symbol
Value
Description
Support in each mode
Position
Speed
Force
0
Origin Position
ZPOINT
0
Outside origin range
3
3
3
1
Within origin range
1
Distribution
completed
DEN
0
Distributing
3
–
–
1
Distribution completed
2
Zero Speed
Detected
ZSP
0
Zero speed not detected
3
3
3
1
Zero speed detected
3
Force Limit
applied
TLIMT
0
Force limit not applied
3
3
3
1
Force Limit applied
4
Speed Limit
VLIMT
0
Speed limit not detected during
force control
–
–
3
1
Speed limit detected during force
control
5
Positive
Software Limit
PSOT
0
Outside limit range
3
3
3
1
Within limit range
6
Negative
Software Limit
NSOT
0
Outside limit range
3
3
3
1
Within limit range
7
Speed
Conformity
VCMP
0
No speed conformity during
speed control
–
3
–
1
Speed conformity during speed
control
8
Positioning
Completed 2
INP2
0
Outside positioning proximity
range during positioning control
3
–
–
1
Within positioning proximity range
during positioning control
9
Switched on
CMDRDY
0
Commands cannot be accepted
during processing
3
3
3
1
Commands can be accepted
10 to
15
Reserved
–
–
–
–
–
–
A l l
Содержание R88D-KN01H-ECT-L
Страница 136: ...3 Specifications 3 60 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 190: ...4 System Design 4 54 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 208: ...5 EtherCAT Communications 5 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 226: ...6 Basic Control Functions 6 18 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 268: ...7 Applied Functions 7 42 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 276: ...8 Safety Function 8 8 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 616: ...Appendices A 170 G5 series Linear Motors Servo Drives With Built in EtherCAT Communications...
Страница 617: ...Index 1 I G5 series Linear Motors Servo Drives With Built in EtherCAT Communications Index...
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