Omron R88D-KN01H-ECT-L, Руководство пользователя

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Appendices
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
A-
1 CiA40
2 Drive Prof
ile
A
A-1
-12 Ser
v
o D
rive Pr
ofile Obje
cts
• This object gives the present state of the Servo Drive.
Explanation of Settings
6041 hex
Statusword
Setting
range
0000 to FFFF hex
Unit
– Default
setting
0000 hex Data
attribute
–
Size 2 bytes (U16) Access RO PDO map Possible
Bit Name Description
0 Ready to switch on These bits give the state.
For details, refer to State Coding on page A-4.
1 Switched on
2 Operation enabled
3 Fault
4
Voltage enabled
*1
5
Quick Stop
*2
6 Switch on disabled
7 Warning If a warning occurs, this bit indicates that warning status exists. Operation
continues without changing the status.
8 Manufacturer specific These are manufacturer specific bits.
This is not used by G5-series Servo Drives.
9 Remote This bit indicates that the Servo Drive is being controlled by the Controlword.
Changes to “1” (remote) after initialization has been completed.
When 0 (local) is given, it indicates that the support software has the control right
to the Servo Drive.
10 Target reached
This bit is “1” when homing is completed during the Homing mode.
*3
This bit is not used in other modes of operation.
11 Internal limit active This bit indicates that the limit function is in effect.
This bit becomes “1” when the limit function in the Servo Drive is activated.
The limit function has four limits, the torque limit, speed limit, drive prohibition
input, and software limit.
12 Target value ignored or
Homing attained This bit is specific to the operating mode.
This bit is “0” when the Servo Drive could not move according to the host
command while the Servo is ON or in csp mode, csv mode, or cst mode. This bit
will not become “0” if there is an error.
*4
It becomes “0” in the following cases.
• Between when the drive prohibition input (PLS/NLS) is input until when the
motor decelerates and stops when the Drive Prohibition Input Selection
(3504 hex) is set to “0”.
• When a warning occurs for a mode of operation.
• When a data setting warning (B0 hex) occurs while the mode of operation is
being changed and instead of changing the mode of operation, the current
mode of operation is retained.
• When a drive prohibition direction command is received while in a drive
prohibition state.
• When there is a change in position command that exceeds the motor’s
maximum speed.
This bit changes to “1” when the homing operation reaches its target while in the
Homing mode (hm).
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